From 5763aecf963ccf069f5ff57ebaa5f652191ae42d Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Thu, 2 May 2019 11:50:30 +0200
Subject: [PATCH] update to new controller firmware
---
.../KITProstheticHandUnit.h | 4 +-
.../RobotAPI/components/units/KinematicUnit.h | 20 +-
.../components/units/PlatformUnitObserver.cpp | 2 +-
.../NJointControllers/NJointController.h | 42 +-
.../NJointControllers/NJointController.ipp | 2 +-
...onomicPlatformRelativePositionController.h | 2 +-
...latformUnitVelocityPassThroughController.h | 2 +-
...NJointKinematicUnitPassThroughController.h | 2 +-
.../NJointTaskSpaceImpedanceController.cpp | 6 +-
.../RobotUnitModuleControlThread.h | 6 +-
.../RobotUnitModuleControllerManagement.cpp | 2 +-
.../RobotUnitModuleControllerManagement.h | 52 +--
.../RobotUnitModules/RobotUnitModuleDevices.h | 20 +-
.../RobotUnitModuleLogging.cpp | 2 +-
.../RobotUnitModules/RobotUnitModuleLogging.h | 12 +-
.../RobotUnitModuleManagement.h | 2 +-
.../RobotUnitModulePublisher.h | 12 +-
.../RobotUnitModuleSelfCollisionChecker.h | 10 +-
.../RobotUnitModules/RobotUnitModuleUnits.cpp | 4 +-
.../RobotUnitModules/RobotUnitModuleUnits.ipp | 2 +-
.../RobotUnit/Units/ForceTorqueSubUnit.h | 4 +-
.../units/RobotUnit/Units/PlatformSubUnit.h | 14 +-
.../RobotUnit/Units/TCPControllerSubUnit.cpp | 2 +-
.../RobotUnit/Units/TCPControllerSubUnit.h | 6 +-
.../Units/TrajectoryControllerSubUnit.h | 32 +-
.../relays/ForceTorqueUnitListenerRelay.h | 2 +-
.../InertialMeasurementUnitListenerRelay.h | 2 +-
.../units/relays/KinematicUnitListenerRelay.h | 16 +-
.../units/relays/RobotStateListenerRelay.h | 4 +-
.../KinematicUnitGuiPlugin.cpp | 2 +-
.../ArmarXEtherCAT/EtherCATRTUnit.cpp | 21 +-
.../DMPController/TaskSpaceDMPController.cpp | 2 +-
.../KITGripperEtherCAT/CMakeLists.txt | 70 ++--
.../JointPWMVelocityControllerV2.cpp | 246 ++++++++++++
.../JointPWMVelocityControllerV2.h | 62 +++
.../KITGripperBasisBoardData.cpp | 30 +-
.../KITGripperBasisBoardData.h | 11 +-
.../KITGripperBasisBoardSlave.cpp | 7 +-
.../KITGripperBasisBoardSlave.h | 44 ++-
.../Misc/TorqueEstimation.cpp | 61 ++-
.../Misc/TorqueEstimation.h | 22 +-
.../Misc/TorqueEstimationWeights.h | 367 +++++++++---------
.../test/KITGripperEtherCATTest.cpp | 2 +-
.../NJointBimanualCCDMPController.cpp | 4 +-
.../DMPController/NJointCCDMPController.cpp | 4 +-
45 files changed, 836 insertions(+), 407 deletions(-)
create mode 100644 source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.cpp
create mode 100644 source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.h
diff --git a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h
index 1111d12fb..7b9c89a13 100644
--- a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h
+++ b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h
@@ -72,14 +72,14 @@ namespace armarx
void onInitHandUnit() override;
void onStartHandUnit() override {}
void onExitHandUnit() override;
- void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& = GlobalIceCurrent) override;
+ void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& = Ice::emptyCurrent) override;
NameValueMap getCurrentJointValues(const Ice::Current&) override;
void addShape(const std::string& name, const std::map<std::string, float>& shape);
void addShapeName(const std::string& name);
- void setShape(const std::string& shapeName, const Ice::Current& c = GlobalIceCurrent) override;
+ void setShape(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
protected:
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index 64b65dd2b..40be0bf28 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -89,41 +89,41 @@ namespace armarx
/**
* \return the robot xml filename as specified in the configuration
*/
- std::string getRobotFilename(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotFilename(const Ice::Current& = Ice::emptyCurrent) const override;
/*!
* \brief getArmarXPackages
* \return All dependent packages, which might contain a robot file.
*/
- std::vector< std::string > getArmarXPackages(const Ice::Current& = GlobalIceCurrent) const override;
+ std::vector< std::string > getArmarXPackages(const Ice::Current& = Ice::emptyCurrent) const override;
/**
*
* \return The name of this robot instance.
*/
- std::string getRobotName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
*
* \return The name of this robot instance.
*/
- std::string getRobotNodeSetName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotNodeSetName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
*
* \return The name of the report topic
*/
- std::string getReportTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getReportTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
virtual void onInitKinematicUnit() = 0;
virtual void onStartKinematicUnit() = 0;
virtual void onExitKinematicUnit() = 0;
// proxy implementation
- virtual void requestKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = GlobalIceCurrent);
- virtual void releaseKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = GlobalIceCurrent);
- void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = GlobalIceCurrent) override;
- void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = GlobalIceCurrent) override;
- void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = GlobalIceCurrent) override;
+ virtual void requestKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = Ice::emptyCurrent);
+ virtual void releaseKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = Ice::emptyCurrent);
+ void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = Ice::emptyCurrent) override;
/**
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index a604fd002..9194408d3 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
@@ -82,7 +82,7 @@ void PlatformUnitObserver::onConnectObserver()
offerDataField("platformOdometryPose", "rotation", VariantType::Float, "Current Odometry Rotation of " + platformNodeName + " in radian");
// odometry pose is always zero in the beginning - set it so that it can be queried
- reportPlatformOdometryPose(0, 0, 0, armarx::GlobalIceCurrent);
+ reportPlatformOdometryPose(0, 0, 0, Ice::emptyCurrent);
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index ce9a64b4e..40284b1c8 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -708,26 +708,26 @@ namespace armarx
// ///////////////////////////////////// ice interface //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
public:
- bool isControllerActive(const Ice::Current& = GlobalIceCurrent) const final override;
- bool isControllerRequested(const Ice::Current& = GlobalIceCurrent) const final override;
- bool isDeletable(const Ice::Current& = GlobalIceCurrent) const final override;
- bool hasControllerError(const Ice::Current& = GlobalIceCurrent) const final override;
-
- std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override = 0;
- std::string getInstanceName(const Ice::Current& = GlobalIceCurrent) const final override;
-
- NJointControllerDescription getControllerDescription(const Ice::Current& = GlobalIceCurrent) const final override;
- NJointControllerStatus getControllerStatus(const Ice::Current& = GlobalIceCurrent) const final override;
- NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus(const Ice::Current& = GlobalIceCurrent) const final override;
- RobotUnitInterfacePrx getRobotUnit(const Ice::Current& = GlobalIceCurrent) const final override;
-
- void activateController(const Ice::Current& = GlobalIceCurrent) final override;
- void deactivateController(const Ice::Current& = GlobalIceCurrent) final override;
- void deleteController(const Ice::Current& = GlobalIceCurrent) final override;
- void deactivateAndDeleteController(const Ice::Current& = GlobalIceCurrent) final override;
-
- WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
- void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = GlobalIceCurrent) override;
+ bool isControllerActive(const Ice::Current& = Ice::emptyCurrent) const final override;
+ bool isControllerRequested(const Ice::Current& = Ice::emptyCurrent) const final override;
+ bool isDeletable(const Ice::Current& = Ice::emptyCurrent) const final override;
+ bool hasControllerError(const Ice::Current& = Ice::emptyCurrent) const final override;
+
+ std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override = 0;
+ std::string getInstanceName(const Ice::Current& = Ice::emptyCurrent) const final override;
+
+ NJointControllerDescription getControllerDescription(const Ice::Current& = Ice::emptyCurrent) const final override;
+ NJointControllerStatus getControllerStatus(const Ice::Current& = Ice::emptyCurrent) const final override;
+ NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus(const Ice::Current& = Ice::emptyCurrent) const final override;
+ RobotUnitInterfacePrx getRobotUnit(const Ice::Current& = Ice::emptyCurrent) const final override;
+
+ void activateController(const Ice::Current& = Ice::emptyCurrent) final override;
+ void deactivateController(const Ice::Current& = Ice::emptyCurrent) final override;
+ void deleteController(const Ice::Current& = Ice::emptyCurrent) final override;
+ void deactivateAndDeleteController(const Ice::Current& = Ice::emptyCurrent) final override;
+
+ WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
+ void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = Ice::emptyCurrent) override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// ///////////////////////////////////// rt interface ///////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
@@ -857,7 +857,7 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////////////////// //
public:
//used control devices
- StringStringDictionary getControlDeviceUsedControlModeMap(const Ice::Current& = GlobalIceCurrent) const final override;
+ StringStringDictionary getControlDeviceUsedControlModeMap(const Ice::Current& = Ice::emptyCurrent) const final override;
const std::vector<char>& getControlDeviceUsedBitmap() const;
const std::vector<std::size_t>& getControlDeviceUsedIndices() const;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
index e71fd985c..c00425e6a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
@@ -325,7 +325,7 @@ namespace armarx
}
ptr->deletable = deletable;
ptr->internal = internal;
- ptr->rtClassName_ = ptr->getClassName(::armarx::GlobalIceCurrent);
+ ptr->rtClassName_ = ptr->getClassName(Ice::emptyCurrent);
ptr->instanceName_ = instanceName;
return ptr;
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
index 2e5c60cd4..30805e93e 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
@@ -88,7 +88,7 @@ namespace armarx
inline virtual void rtPreActivateController() override;
//ice interface
- inline virtual std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override
+ inline virtual std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override
{
return "NJointHolonomicPlatformRelativePositionController";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
index 2f1bfe26e..89cb892d3 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
@@ -72,7 +72,7 @@ namespace armarx
void setVelocites(float velocityX, float velocityY, float velocityRotation);
//ice interface
- std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override
+ std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override
{
return "NJointHolonomicPlatformUnitVelocityPassThroughController";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
index d8f0b321d..2985febdc 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
@@ -80,7 +80,7 @@ namespace armarx
}
//ice interface
- inline std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override
+ inline std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override
{
return "NJointKinematicUnitPassThroughController";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index ca8dd3132..f735aba8f 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -169,7 +169,8 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& sensorValues
Eigen::VectorXf nullqerror = desiredJointPosition - qpos;
- ARMARX_CHECK_EQUAL(nullqerror.rows(), targets.size());
+ // ARMARX_CHECK_EQUAL(nullqerror.rows(), targets.size());
+ ARMARX_CHECK_EQUAL(static_cast<std::size_t>(nullqerror.rows()), targets.size());
for (int i = 0; i < nullqerror.rows(); ++i)
{
@@ -181,7 +182,8 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& sensorValues
Eigen::VectorXf nullspaceTorque = knull * nullqerror - dnull * qvel;
Eigen::VectorXf jointDesiredTorques = jacobi.transpose() * tcpDesiredWrench + (I - jacobi.transpose() * jtpinv) * nullspaceTorque;
- ARMARX_CHECK_EQUAL(jointDesiredTorques.rows(), targets.size());
+ // ARMARX_CHECK_EQUAL(jointDesiredTorques.rows(), targets.size());
+ ARMARX_CHECK_EQUAL(static_cast<std::size_t>(jointDesiredTorques.rows()), targets.size());
for (size_t i = 0; i < targets.size(); ++i)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
index 009c950b4..33e8a906f 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
@@ -96,17 +96,17 @@ namespace armarx
* @brief Sets the \ref EmergencyStopState
* @param state The \ref EmergencyStopState to set
*/
- void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = GlobalIceCurrent) override;
+ void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns the \ref ControlThread's target \ref EmergencyStopState
* @return The \ref EmergencyStopState
*/
- EmergencyStopState getEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const override;
+ EmergencyStopState getEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the \ref ControlThread's \ref EmergencyStopState
* @return The \ref EmergencyStopState
*/
- EmergencyStopState getRtEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const override;
+ EmergencyStopState getRtEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 73de76424..d528147fd 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -183,7 +183,7 @@ namespace armarx
return createNJointController(
className, instanceName,
NJointControllerRegistry::get(className)->GenerateConfigFromVariants(variants),
- GlobalIceCurrent/*to select ice overload*/);
+ Ice::emptyCurrent/*to select ice overload*/);
}
const NJointControllerPtr& ControllerManagement::createNJointController(
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index 1175d350c..421e03796 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -70,13 +70,13 @@ namespace armarx
* @return A proxy to the \ref NJointController.
* @see getAllNJointControllers
*/
- NJointControllerInterfacePrx getNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerInterfacePrx getNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns proxies to all \ref NJointController "NJointControllers"
* @return Proxies to all \ref NJointController "NJointControllers"
* @see getNJointController
*/
- StringNJointControllerPrxDictionary getAllNJointControllers(const Ice::Current& = GlobalIceCurrent) const override;
+ StringNJointControllerPrxDictionary getAllNJointControllers(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status of the \ref NJointController.
@@ -87,7 +87,7 @@ namespace armarx
* @see getNJointControllerDescriptionWithStatus
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerStatus getNJointControllerStatus(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerStatus getNJointControllerStatus(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status of all \ref NJointController "NJointControllers".
* @return The status of all \ref NJointController "NJointControllers".
@@ -96,7 +96,7 @@ namespace armarx
* @see getNJointControllerDescriptionWithStatus
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerStatusSeq getNJointControllerStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerStatusSeq getNJointControllerStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the description of the \ref NJointController.
@@ -107,7 +107,7 @@ namespace armarx
* @see getNJointControllerDescriptionWithStatus
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerDescription getNJointControllerDescription(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerDescription getNJointControllerDescription(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the description of all \ref NJointController "NJointControllers".
* @return The description of all \ref NJointController "NJointControllers".
@@ -117,7 +117,7 @@ namespace armarx
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerDescriptionSeq getNJointControllerDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerDescriptionSeq getNJointControllerDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status and description of the \ref NJointController.
@@ -132,7 +132,7 @@ namespace armarx
* @see getNJointControllerDescriptions
*/
NJointControllerDescriptionWithStatus getNJointControllerDescriptionWithStatus(
- const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status and description of all \ref NJointController "NJointControllers".
* @return The status and description of all \ref NJointController "NJointControllers".
@@ -144,7 +144,7 @@ namespace armarx
* @see getNJointControllerDescription
* @see getNJointControllerDescriptions
*/
- NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief getNJointControllerClassDescription
@@ -152,19 +152,19 @@ namespace armarx
* @return
*/
NJointControllerClassDescription getNJointControllerClassDescription(
- const std::string& className, const Ice::Current& = GlobalIceCurrent) const override;
+ const std::string& className, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief getNJointControllerClassDescriptions
* @return
*/
- NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(path)`)
* @param path Path to the lib to load.
* @return Whether loading the lib was successful.
* @see ArmarXManager::loadLibFromPath
*/
- bool loadLibFromPath(const std::string& path, const Ice::Current& = GlobalIceCurrent) override;
+ bool loadLibFromPath(const std::string& path, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(package, lib)`)
* @param package The armarx package containing the lib
@@ -172,27 +172,27 @@ namespace armarx
* @return Whether loading the lib was successful.
* @see ArmarXManager::loadLibFromPackage
*/
- bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = GlobalIceCurrent) override;
+ bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns the names of all available classes of \ref NJointController.
* @return The names of all available classes of \ref NJointController.
*/
- Ice::StringSeq getNJointControllerClassNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getNJointControllerClassNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all \ref NJointController "NJointControllers"
* @return The names of all \ref NJointController "NJointControllers"
*/
- Ice::StringSeq getNJointControllerNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all requested \ref NJointController "NJointControllers"
* @return The names of all requested \ref NJointController "NJointControllers"
*/
- Ice::StringSeq getRequestedNJointControllerNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getRequestedNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all activated \ref NJointController "NJointControllers"
* @return The names of all activated \ref NJointController "NJointControllers"
*/
- Ice::StringSeq getActivatedNJointControllerNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getActivatedNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Queues the given \ref NJointController for deletion.
@@ -201,7 +201,7 @@ namespace armarx
* @see nJointControllersToBeDeleted
* @see deleteNJointControllers
*/
- void deleteNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void deleteNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Queues the given \ref NJointController "NJointControllers" for deletion.
* @param names The \ref NJointController "NJointControllers" to delete.
@@ -209,7 +209,7 @@ namespace armarx
* @see nJointControllersToBeDeleted
* @see deleteNJointController
*/
- void deleteNJointControllers(const Ice::StringSeq& names, const Ice::Current& = GlobalIceCurrent) override;
+ void deleteNJointControllers(const Ice::StringSeq& names, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Queues the given \ref NJointController for deletion and deactivates it if necessary.
* @param name The \ref NJointController to delete.
@@ -219,7 +219,7 @@ namespace armarx
* @see deleteNJointControllers
* @see deactivateAnddeleteNJointControllers
*/
- void deactivateAndDeleteNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void deactivateAndDeleteNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Queues the given \ref NJointController "NJointControllers" for deletion and deactivates them if necessary.
* @param names The \ref NJointController "NJointControllers" to delete.
@@ -236,26 +236,26 @@ namespace armarx
* @param name The requested \ref NJointController.
* @see activateNJointControllers
*/
- void activateNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void activateNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Requests activation for the given \ref NJointController "NJointControllers".
* @param names The requested \ref NJointController "NJointControllers".
* @see activateNJointController
*/
- void activateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = GlobalIceCurrent) override;
+ void activateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Requests deactivation for the given \ref NJointController.
* @param name The \ref NJointController to be deactivated.
* @see deactivateNJointControllers
*/
- void deactivateNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void deactivateNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Requests deactivation for the given \ref NJointController "NJointControllers".
* @param names The \ref NJointController "NJointControllers" to be deactivated.
* @see deactivateNJointController
*/
- void deactivateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = GlobalIceCurrent) override;
+ void deactivateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Cretes a \ref NJointController.
@@ -266,7 +266,7 @@ namespace armarx
*/
NJointControllerInterfacePrx createNJointController(
const std::string& className, const std::string& instanceName,
- const NJointControllerConfigPtr& config, const Ice::Current& = GlobalIceCurrent) override;
+ const NJointControllerConfigPtr& config, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Cretes a \ref NJointController.
* @param className The \ref NJointController's class.
@@ -276,13 +276,13 @@ namespace armarx
*/
NJointControllerInterfacePrx createNJointControllerFromVariantConfig(
const std::string& className, const std::string& instanceName,
- const StringVariantBaseMap& variants, const Ice::Current& = GlobalIceCurrent) override;
+ const StringVariantBaseMap& variants, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Changes the set of requested \ref NJointController "NJointControllers" to the given set.
* @param newSetup The new set of requested \ref NJointController "NJointControllers"
*/
- void switchNJointControllerSetup(const Ice::StringSeq& newSetup, const Ice::Current& = GlobalIceCurrent) override;
+ void switchNJointControllerSetup(const Ice::StringSeq& newSetup, const Ice::Current& = Ice::emptyCurrent) override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
index f8fae7385..490059fa6 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
@@ -97,7 +97,7 @@ namespace armarx
* @brief Returns the names of all \ref ControlDevice "ControlDevices" for the robot.
* @return The names of all \ref ControlDevice "ControlDevices" for the robot.
*/
- Ice::StringSeq getControlDeviceNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getControlDeviceNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceDescription for the given \ref ControlDevice
@@ -106,14 +106,14 @@ namespace armarx
* @see ControlDeviceDescription
* @see getControlDeviceDescriptions
*/
- ControlDeviceDescription getControlDeviceDescription(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceDescription getControlDeviceDescription(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceDescription "ControlDeviceDescriptions" for all \ref ControlDevice "ControlDevices"
* @return The \ref ControlDeviceDescription "ControlDeviceDescriptions"
* @see ControlDeviceDescription
* @see getControlDeviceDescription
*/
- ControlDeviceDescriptionSeq getControlDeviceDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceDescriptionSeq getControlDeviceDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceStatus for the given \ref ControlDevice
@@ -122,20 +122,20 @@ namespace armarx
* @see ControlDeviceStatus
* @see getControlDeviceStatuses
*/
- ControlDeviceStatus getControlDeviceStatus(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceStatus getControlDeviceStatus(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceStatus "ControlDeviceStatuses" for all \ref ControlDevice "ControlDevices"
* @return The \ref ControlDeviceStatus "ControlDeviceStatuses"
* @see ControlDeviceStatus
* @see getControlDeviceStatus
*/
- ControlDeviceStatusSeq getControlDeviceStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceStatusSeq getControlDeviceStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all \ref SensorDevice "SensorDevices" for the robot.
* @return The names of all \ref SensorDevice "ControlDevices" for the robot.
*/
- Ice::StringSeq getSensorDeviceNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getSensorDeviceNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceDescription for the given \ref SensorDevice
@@ -144,14 +144,14 @@ namespace armarx
* @see SensorDeviceDescription
* @see getSensorDeviceDescriptions
*/
- SensorDeviceDescription getSensorDeviceDescription(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceDescription getSensorDeviceDescription(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceDescription "SensorDeviceDescriptions" for all \ref SensorDevice "SensorDevices"
* @return The \ref SensorDeviceDescription "SensorDeviceDescriptions"
* @see SensorDeviceDescription
* @see getSensorDeviceDescription
*/
- SensorDeviceDescriptionSeq getSensorDeviceDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceDescriptionSeq getSensorDeviceDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceStatus for the given \ref SensorDevice
@@ -160,14 +160,14 @@ namespace armarx
* @see SensorDeviceStatus
* @see getSensorDeviceStatuses
*/
- SensorDeviceStatus getSensorDeviceStatus(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceStatus getSensorDeviceStatus(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceStatus "SensorDeviceStatuses" for all \ref SensorDevice "SensorDevices"
* @return The \ref SensorDeviceStatus "SensorDeviceStatuses"
* @see SensorDeviceStatus
* @see getSensorDeviceStatus
*/
- SensorDeviceStatusSeq getSensorDeviceStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceStatusSeq getSensorDeviceStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index d5db6382a..2906c1342 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -53,7 +53,7 @@ namespace armarx
{
alias.emplace(name, "");
}
- return startRtLoggingWithAliasNames(formatString, alias, GlobalIceCurrent);
+ return startRtLoggingWithAliasNames(formatString, alias, Ice::emptyCurrent);
}
void Logging::stopRtLogging(const RemoteReferenceCounterBasePtr& token, const Ice::Current&)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
index c583a459c..4207da6dd 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
@@ -118,7 +118,7 @@ namespace armarx
* @param loggingNames The data fields to log.
* @return A handle to the log. If it's last copy is deleted, logging is stopped.
*/
- RemoteReferenceCounterBasePtr startRtLogging(const std::string& formatString, const Ice::StringSeq& loggingNames, const Ice::Current& = GlobalIceCurrent) override;
+ RemoteReferenceCounterBasePtr startRtLogging(const std::string& formatString, const Ice::StringSeq& loggingNames, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Starts logging to a CSV file
* @param formatString The file to log to.
@@ -126,31 +126,31 @@ namespace armarx
* If value is empty, key is used as heading.
* @return A handle to the log. If it's last copy is deleted, logging is stopped.
*/
- RemoteReferenceCounterBasePtr startRtLoggingWithAliasNames(const std::string& formatString, const StringStringDictionary& aliasNames, const Ice::Current& = GlobalIceCurrent) override;
+ RemoteReferenceCounterBasePtr startRtLoggingWithAliasNames(const std::string& formatString, const StringStringDictionary& aliasNames, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Stops logging to the given log.
* @param token The log to close.
*/
- void stopRtLogging(const armarx::RemoteReferenceCounterBasePtr& token, const Ice::Current& = GlobalIceCurrent) override;
+ void stopRtLogging(const armarx::RemoteReferenceCounterBasePtr& token, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Adds a string to the log (it is added in a special column).
* @param token The log.
* @param marker The string to add.
*/
- void addMarkerToRtLog(const RemoteReferenceCounterBasePtr& token, const std::string& marker, const Ice::Current& = GlobalIceCurrent) override;
+ void addMarkerToRtLog(const RemoteReferenceCounterBasePtr& token, const std::string& marker, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns the names of all loggable data fields.
* @return The names of all loggable data fields.
*/
- Ice::StringSeq getLoggingNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getLoggingNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Dumps the backlog of all recent iterations to the given file.
* This helps debugging.
* @param formatString The file.
*/
- void writeRecentIterationsToFile(const std::string& formatString, const Ice::Current& = GlobalIceCurrent) const override;
+ void writeRecentIterationsToFile(const std::string& formatString, const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// //////////////////////////////////// implementation //////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h
index 5f42dee92..a6653bacf 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h
@@ -87,7 +87,7 @@ namespace armarx
* @brief Returns whether the RobotUnit is running.
* @return Whether the RobotUnit is running.
*/
- bool isRunning(const Ice::Current& = GlobalIceCurrent) const override
+ bool isRunning(const Ice::Current& = Ice::emptyCurrent) const override
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
return getRobotUnitState() == RobotUnitState::Running;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
index 1e1b3f489..a10ed61e2 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
@@ -116,33 +116,33 @@ namespace armarx
* @brief Returns the name of the used DebugDrawerTopic
* @return The name of the used DebugDrawerTopic
*/
- std::string getDebugDrawerTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getDebugDrawerTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the name of the used DebugObserverTopic
* @return The name of the used DebugObserverTopic
*/
- std::string getDebugObserverTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getDebugObserverTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the name of the used RobotUnitListenerTopic
* @return The name of the used RobotUnitListenerTopic
*/
- std::string getRobotUnitListenerTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotUnitListenerTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the used DebugDrawerProxy
* @return The used DebugDrawerProxy
*/
- DebugDrawerInterfacePrx getDebugDrawerProxy(const Ice::Current& = GlobalIceCurrent) const override;
+ DebugDrawerInterfacePrx getDebugDrawerProxy(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the used RobotUnitListenerProxy
* @return The used RobotUnitListenerProxy
*/
- RobotUnitListenerPrx getRobotUnitListenerProxy(const Ice::Current& = GlobalIceCurrent) const override;
+ RobotUnitListenerPrx getRobotUnitListenerProxy(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the used DebugObserverProxy
* @return The used DebugObserverProxy
*/
- DebugObserverInterfacePrx getDebugObserverProxy(const Ice::Current& = GlobalIceCurrent) const override;
+ DebugObserverInterfacePrx getDebugObserverProxy(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
index 001b5a8ba..e2a9d9c3e 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
@@ -97,28 +97,28 @@ namespace armarx
* @brief Sets the minimal distance (mm) between a configured pair of bodies to 'distance'.
* @param distance The minimal distance (mm) between a pair of bodies.
*/
- void setSelfCollisionAvoidanceDistance(Ice::Float distance, const Ice::Current& = GlobalIceCurrent) override;
+ void setSelfCollisionAvoidanceDistance(Ice::Float distance, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Sets the frequency of self collision checks.
* @param freq The frequency of self collision checks.
*/
- void setSelfCollisionAvoidanceFrequency(Ice::Float freq, const Ice::Current& = GlobalIceCurrent) override;
+ void setSelfCollisionAvoidanceFrequency(Ice::Float freq, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns whether the frequency of self collision checks is above 0.
* @return Whether the frequency of self collision checks is above 0.
*/
- bool isSelfCollisionCheckEnabled(const Ice::Current& = GlobalIceCurrent) const override;
+ bool isSelfCollisionCheckEnabled(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the frequency of self collision checks.
* @return The frequency of self collision checks.
*/
- float getSelfCollisionAvoidanceFrequency(const Ice::Current& = GlobalIceCurrent) const override;
+ float getSelfCollisionAvoidanceFrequency(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the minimal distance (mm) between a pair of bodies.
* @return The minimal distance (mm) between a pair of bodies.
*/
- float getSelfCollisionAvoidanceDistance(const Ice::Current& = GlobalIceCurrent) const override;
+ float getSelfCollisionAvoidanceDistance(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// //////////////////////////////////// implementation //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 3e06a5d25..be1150801 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -73,7 +73,7 @@ namespace armarx
ARMARX_CHECK_EXPRESSION(!emergencyStopTopicName.empty());
}
- void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = GlobalIceCurrent) final override
+ void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = Ice::emptyCurrent) final override
{
if (getEmergencyStopState() == state)
{
@@ -82,7 +82,7 @@ namespace armarx
ControlThreadAttorneyForRobotUnitEmergencyStopMaster::SetEmergencyStopStateNoReportToTopic(controlThreadModule, state);
emergencyStopTopic->reportEmergencyStopState(state);
}
- EmergencyStopState getEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const final override
+ EmergencyStopState getEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const final override
{
return controlThreadModule->getEmergencyStopState();
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp
index c9e6e111e..a25217408 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp
@@ -75,7 +75,7 @@ namespace armarx
inline typename T::ProxyType Units::getUnitPrx() const
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- return T::ProxyType::uncheckedCast(getUnit(T::ice_staticId(), GlobalIceCurrent));
+ return T::ProxyType::uncheckedCast(getUnit(T::ice_staticId(), Ice::emptyCurrent));
}
inline KinematicUnitInterfacePtr Units::getKinematicUnit() const
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
index 8c7ebd655..eb11819df 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
@@ -39,8 +39,8 @@ namespace armarx
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
// ForceTorqueUnitInterface interface
- void setOffset(const FramedDirectionBasePtr&, const FramedDirectionBasePtr&, const Ice::Current& = GlobalIceCurrent) override;
- void setToNull(const Ice::Current& = GlobalIceCurrent) override;
+ void setOffset(const FramedDirectionBasePtr&, const FramedDirectionBasePtr&, const Ice::Current& = Ice::emptyCurrent) override;
+ void setToNull(const Ice::Current& = Ice::emptyCurrent) override;
// ForceTorqueUnit interface
void onInitForceTorqueUnit() override;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index a6826e2ba..bac5190ed 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -49,20 +49,20 @@ namespace armarx
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
// PlatformUnitInterface interface
- void move(Ice::Float vx, Ice::Float vy, Ice::Float vr, const Ice::Current& = GlobalIceCurrent) override;
- void moveTo(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = GlobalIceCurrent) override;
- void moveRelative(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = GlobalIceCurrent) override;
+ void move(Ice::Float vx, Ice::Float vy, Ice::Float vr, const Ice::Current& = Ice::emptyCurrent) override;
+ void moveTo(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = Ice::emptyCurrent) override;
+ void moveRelative(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = Ice::emptyCurrent) override;
- void setMaxVelocities(Ice::Float mxVLin, Ice::Float mxVAng, const Ice::Current& = GlobalIceCurrent) override;
+ void setMaxVelocities(Ice::Float mxVLin, Ice::Float mxVAng, const Ice::Current& = Ice::emptyCurrent) override;
- virtual void setGlobalPose(PoseBasePtr globalPose, const Ice::Current& = GlobalIceCurrent) /*override*/;
- virtual PoseBasePtr getGlobalPose(const Ice::Current& = GlobalIceCurrent) /*override*/;
+ virtual void setGlobalPose(PoseBasePtr globalPose, const Ice::Current& = Ice::emptyCurrent) /*override*/;
+ virtual PoseBasePtr getGlobalPose(const Ice::Current& = Ice::emptyCurrent) /*override*/;
// PlatformUnit interface
void onInitPlatformUnit() override {}
void onStartPlatformUnit() override {}
void onExitPlatformUnit() override {}
- void stopPlatform(const Ice::Current& c = GlobalIceCurrent) override;
+ void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
NJointHolonomicPlatformUnitVelocityPassThroughControllerPtr pt;
NJointHolonomicPlatformRelativePositionControllerPtr relativePosCtrl;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
index ef3cb1009..b65d6f298 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
@@ -208,7 +208,7 @@ void armarx::TCPControllerSubUnit::componentPropertiesUpdated(const std::set<std
auto tcpController = NJointCartesianVelocityControllerWithRampPtr::dynamicCast(controller);
if (tcpController)
{
- tcpController->setKpJointLimitAvoidance(avoidJointLimitsKp, GlobalIceCurrent);
+ tcpController->setKpJointLimitAvoidance(avoidJointLimitsKp, Ice::emptyCurrent);
}
}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
index 812578179..b834d2b8a 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
@@ -50,9 +50,9 @@ namespace armarx
void setup(RobotUnit* rUnit, VirtualRobot::RobotPtr robot);
// TCPControlUnitInterface interface
- void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = GlobalIceCurrent) override;
- void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = GlobalIceCurrent) override;
- bool isRequested(const Ice::Current& = GlobalIceCurrent) override;
+ void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = Ice::emptyCurrent) override;
+ bool isRequested(const Ice::Current& = Ice::emptyCurrent) override;
// RobotUnitSubUnit interface
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
index c672c6ce8..8ebe1925e 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
@@ -67,28 +67,28 @@ namespace armarx
{
// TrajectoryControllerSubUnitInterface interface
public:
- bool startTrajectoryPlayer(const Ice::Current& = GlobalIceCurrent) override;
- bool pauseTrajectoryPlayer(const Ice::Current& = GlobalIceCurrent) override;
- bool stopTrajectoryPlayer(const Ice::Current& = GlobalIceCurrent) override;
- bool resetTrajectoryPlayer(bool moveToFrameZeroPose, const Ice::Current& = GlobalIceCurrent) override;
+ bool startTrajectoryPlayer(const Ice::Current& = Ice::emptyCurrent) override;
+ bool pauseTrajectoryPlayer(const Ice::Current& = Ice::emptyCurrent) override;
+ bool stopTrajectoryPlayer(const Ice::Current& = Ice::emptyCurrent) override;
+ bool resetTrajectoryPlayer(bool moveToFrameZeroPose, const Ice::Current& = Ice::emptyCurrent) override;
- void loadJointTraj(const TrajectoryBasePtr& jointTraj, const Ice::Current& = GlobalIceCurrent) override;
- void loadBasePoseTraj(const TrajectoryBasePtr& basePoseTraj, const Ice::Current& = GlobalIceCurrent) override;
+ void loadJointTraj(const TrajectoryBasePtr& jointTraj, const Ice::Current& = Ice::emptyCurrent) override;
+ void loadBasePoseTraj(const TrajectoryBasePtr& basePoseTraj, const Ice::Current& = Ice::emptyCurrent) override;
- void setLoopPlayback(bool loop, const Ice::Current& = GlobalIceCurrent) override;
- Ice::Double getEndTime(const Ice::Current& = GlobalIceCurrent) override;
- Ice::Double getTrajEndTime(const Ice::Current& = GlobalIceCurrent) override;
- Ice::Double getCurrentTime(const Ice::Current& = GlobalIceCurrent) override;
- void setEndTime(Ice::Double, const Ice::Current& = GlobalIceCurrent) override;
+ void setLoopPlayback(bool loop, const Ice::Current& = Ice::emptyCurrent) override;
+ Ice::Double getEndTime(const Ice::Current& = Ice::emptyCurrent) override;
+ Ice::Double getTrajEndTime(const Ice::Current& = Ice::emptyCurrent) override;
+ Ice::Double getCurrentTime(const Ice::Current& = Ice::emptyCurrent) override;
+ void setEndTime(Ice::Double, const Ice::Current& = Ice::emptyCurrent) override;
// Within the RobotUnit the NJointTrajectoryController is always in VelocityControl
- void setIsVelocityControl(bool, const Ice::Current& = GlobalIceCurrent) override {}
+ void setIsVelocityControl(bool, const Ice::Current& = Ice::emptyCurrent) override {}
- void setIsPreview(bool, const Ice::Current& = GlobalIceCurrent) override;
- bool setJointsInUse(const std::string&, bool, const Ice::Current& = GlobalIceCurrent) override;
- void enableRobotPoseUnit(bool, const Ice::Current& = GlobalIceCurrent) override;
+ void setIsPreview(bool, const Ice::Current& = Ice::emptyCurrent) override;
+ bool setJointsInUse(const std::string&, bool, const Ice::Current& = Ice::emptyCurrent) override;
+ void enableRobotPoseUnit(bool, const Ice::Current& = Ice::emptyCurrent) override;
- void considerConstraints(bool, const Ice::Current& = GlobalIceCurrent) override;
+ void considerConstraints(bool, const Ice::Current& = Ice::emptyCurrent) override;
// RobotUnitSubUnit interface
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
diff --git a/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
index 13d21373f..22497a711 100644
--- a/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
@@ -33,7 +33,7 @@ namespace armarx
using CallbackFunctionSensorValues = std::function<void(const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&)>;
// ForceTorqueUnitListener interface
- void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = GlobalIceCurrent) override
+ void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportSensorValues(sensorNodeName, forces, torques);
}
diff --git a/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
index 3443d1f1d..8a305eb62 100644
--- a/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
@@ -33,7 +33,7 @@ namespace armarx
using CallbackFunctionSensorValues = std::function<void(const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&)>;
// InertialMeasurementUnitListener interface
- void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = GlobalIceCurrent) override
+ void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportSensorValues(device, name, values, timestamp);
}
diff --git a/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
index 91e2d5189..c653ba682 100644
--- a/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
@@ -35,35 +35,35 @@ namespace armarx
using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
// KinematicUnitListener interface
- void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportControlModeChanged(map, time, changes);
}
- void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointAngles(map, time, changes);
}
- void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointVelocities(map, time, changes);
}
- void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointTorques(map, time, changes);
}
- void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointAccelerations(map, time, changes);
}
- void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointCurrents(map, time, changes);
}
- void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointMotorTemperatures(map, time, changes);
}
- void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointStatuses(map, time, changes);
}
diff --git a/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
index daf3cacd9..ab4bf2ac5 100644
--- a/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
@@ -33,11 +33,11 @@ namespace armarx
using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
using CallbackFunctionPose = std::function<void(const FramedPoseBasePtr&, Ice::Long, bool)>;
- virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent)
{
callbackReportJointValues(map, time, changes);
}
- void reportGlobalRobotRootPose(const FramedPoseBasePtr& pose, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ void reportGlobalRobotRootPose(const FramedPoseBasePtr& pose, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent)
{
callbackReportGlobalRobotRootPose(pose, time, changes);
}
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 0c58da798..5263f02f8 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -1553,7 +1553,7 @@ void RangeValueDelegate::paint(QPainter* painter, const QStyleOptionViewItem& op
return;
}
- QStyleOptionProgressBarV2 progressBarOption;
+ QStyleOptionProgressBar progressBarOption;
progressBarOption.rect = option.rect;
progressBarOption.minimum = loDeg;
progressBarOption.maximum = hiDeg;
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
index 5b477c8e2..705f140e2 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
@@ -669,22 +669,39 @@ void EtherCATRTUnit::controlLoopRTThread()
ARMARX_FATAL << "exception in control thread!"
<< "\nwhat:\n" << e.what()
<< "\nreason:\n" << e.reason
- << "\n\tname: " << e.ice_name()
+ << "\n\tname: " << e.ice_id()
<< "\n\tfile: " << e.ice_file()
<< "\n\tline: " << e.ice_line()
<< "\n\tstack: " << e.ice_stackTrace()
<< std::flush;
+
+ // ARMARX_FATAL << "exception in control thread!"
+ // << "\nwhat:\n" << e.what()
+ // << "\nreason:\n" << e.reason
+ // << "\n\tname: " << e.ice_name()
+ // << "\n\tfile: " << e.ice_file()
+ // << "\n\tline: " << e.ice_line()
+ // << "\n\tstack: " << e.ice_stackTrace()
+ // << std::flush;
//TODO emergency stop
}
catch (Ice::Exception& e)
{
ARMARX_FATAL << "exception in control thread!\nwhat:\n"
<< e.what()
- << "\n\tname: " << e.ice_name()
+ << "\n\tname: " << e.ice_id()
<< "\n\tfile: " << e.ice_file()
<< "\n\tline: " << e.ice_line()
<< "\n\tstack: " << e.ice_stackTrace()
<< std::flush;
+
+ // ARMARX_FATAL << "exception in control thread!\nwhat:\n"
+ // << e.what()
+ // << "\n\tname: " << e.ice_name()
+ // << "\n\tfile: " << e.ice_file()
+ // << "\n\tline: " << e.ice_line()
+ // << "\n\tstack: " << e.ice_stackTrace()
+ // << std::flush;
//TODO emergency stop
}
catch (std::exception& e)
diff --git a/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp b/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp
index de7de3cdc..03da7f366 100644
--- a/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp
+++ b/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp
@@ -265,7 +265,7 @@ void TaskSpaceDMPController::setViaPose(double canVal, const std::vector<double>
void TaskSpaceDMPController::removeAllViaPoints()
{
- dmpPtr->removeViaPoints();
+ // dmpPtr->removeViaPoints();
}
void TaskSpaceDMPController::prepareExecution(const Eigen::Matrix4f& currentPose, const Eigen::Matrix4f& goalPose, double tau)
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/CMakeLists.txt b/source/RobotAPI/libraries/KITGripperEtherCAT/CMakeLists.txt
index 81eef4fb0..d89cf6c63 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/CMakeLists.txt
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/CMakeLists.txt
@@ -40,44 +40,44 @@ if (Eigen3_FOUND AND Simox_FOUND)
endif()
set(LIBS
- ArmarXCoreInterfaces
- ArmarXCore
- ArmarXEtherCAT
- ${Simox_LIBRARIES}
- ${SOEM_LIBRARIES}
-)
+ ArmarXCoreInterfaces
+ ArmarXCore
+ ArmarXEtherCAT
+ ${Simox_LIBRARIES}
+ ${SOEM_LIBRARIES}
+ )
set(LIB_FILES
-KITGripperBasisBoard/KITGripperBasisBoardSlave.cpp
-KITGripperBasisBoard/KITGripperBasisBoardData.cpp
-KITGripperBasisBoard/KITGripperBasisBoard.cpp
-KITGripperBasisBoard/Misc/TorqueEstimation.cpp
-KITGripperBasisBoard/JointController/JointPWMVelocityController.cpp
-KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
-KITGripperBasisBoard/JointController/JointKITGripperEmergencyStopController.cpp
-KITGripperBasisBoard/JointController/JointKITGripperStopMovementController.cpp
-KITGripperBasisBoard/JointController/PWMVelocityController.cpp
-KITGripperBasisBoard/JointController/JointZeroTorqueController.cpp
-KITGripperBasisBoard/JointController/ParallelGripperPositionController.cpp
-KITGripperBasisBoard/JointController/ParallelGripperVelocityController.cpp
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
-)
+ KITGripperBasisBoard/KITGripperBasisBoardSlave.cpp
+ KITGripperBasisBoard/KITGripperBasisBoardData.cpp
+ KITGripperBasisBoard/KITGripperBasisBoard.cpp
+ KITGripperBasisBoard/Misc/TorqueEstimation.cpp
+ KITGripperBasisBoard/JointController/JointPWMVelocityController.cpp
+ KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
+ KITGripperBasisBoard/JointController/JointKITGripperEmergencyStopController.cpp
+ KITGripperBasisBoard/JointController/JointKITGripperStopMovementController.cpp
+ KITGripperBasisBoard/JointController/PWMVelocityController.cpp
+ KITGripperBasisBoard/JointController/JointZeroTorqueController.cpp
+ KITGripperBasisBoard/JointController/ParallelGripperPositionController.cpp
+ KITGripperBasisBoard/JointController/ParallelGripperVelocityController.cpp
+ #@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+ )
set(LIB_HEADERS
-KITGripperBasisBoard/KITGripperBasisBoardSlave.h
-KITGripperBasisBoard/KITGripperBasisBoardData.h
-KITGripperBasisBoard/KITGripperBasisBoard.h
-KITGripperBasisBoard/Misc/TorqueEstimation.h
-KITGripperBasisBoard/Misc/TorqueEstimationWeights.h
-KITGripperBasisBoard/JointController/JointPWMVelocityController.h
-KITGripperBasisBoard/JointController/JointPWMPositionController.h
-KITGripperBasisBoard/JointController/JointKITGripperEmergencyStopController.h
-KITGripperBasisBoard/JointController/JointKITGripperStopMovementController.h
-KITGripperBasisBoard/JointController/PWMVelocityController.h
-KITGripperBasisBoard/JointController/JointZeroTorqueController.h
-KITGripperBasisBoard/JointController/ParallelGripperPositionController.h
-KITGripperBasisBoard/JointController/ParallelGripperVelocityController.h
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
-)
+ KITGripperBasisBoard/KITGripperBasisBoardSlave.h
+ KITGripperBasisBoard/KITGripperBasisBoardData.h
+ KITGripperBasisBoard/KITGripperBasisBoard.h
+ KITGripperBasisBoard/Misc/TorqueEstimation.h
+ KITGripperBasisBoard/Misc/TorqueEstimationWeights.h
+ KITGripperBasisBoard/JointController/JointPWMVelocityController.h
+ KITGripperBasisBoard/JointController/JointPWMPositionController.h
+ KITGripperBasisBoard/JointController/JointKITGripperEmergencyStopController.h
+ KITGripperBasisBoard/JointController/JointKITGripperStopMovementController.h
+ KITGripperBasisBoard/JointController/PWMVelocityController.h
+ KITGripperBasisBoard/JointController/JointZeroTorqueController.h
+ KITGripperBasisBoard/JointController/ParallelGripperPositionController.h
+ KITGripperBasisBoard/JointController/ParallelGripperVelocityController.h
+ #@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+ )
armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.cpp
new file mode 100644
index 000000000..1cd176383
--- /dev/null
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.cpp
@@ -0,0 +1,246 @@
+#include <chrono>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include "JointPWMVelocityControllerV2.h"
+#include "../KITGripperBasisBoard.h"
+#include <RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+#include <ArmarXGui/libraries/RemoteGui/WidgetProxy.h>
+#include <ArmarXGui/libraries/RemoteGui/WidgetBuilder.h>
+
+#include <ArmarXCore/core/application/Application.h>
+
+#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h>
+
+using namespace armarx;
+
+
+JointPWMVelocityControllerV2::JointPWMVelocityControllerV2(const std::string deviceName, KITGripperBasisBoardPtr board, ActorDataV2Ptr jointData,
+ PWMVelocityControllerConfigurationCPtr velocityControllerConfigDataPtr) : JointController(),
+ config(velocityControllerConfigDataPtr),
+ controller(velocityControllerConfigDataPtr),
+ target(), board(board), deviceName(deviceName)
+{
+ actorIndex = board->getActorIndex(deviceName);
+ dataPtr = jointData;
+
+ velController.acceleration = velocityControllerConfigDataPtr->maxAccelerationRad;
+ velController.deceleration = velocityControllerConfigDataPtr->maxDecelerationRad;
+ velController.maxDt = velocityControllerConfigDataPtr->maxDt;
+ velController.maxV = velocityControllerConfigDataPtr->maxVelocityRad;
+ velController.directSetVLimit = velocityControllerConfigDataPtr->directSetVLimit;
+ ARMARX_CHECK_GREATER_EQUAL(jointData->getSoftLimitHi(), jointData->getSoftLimitLo());
+ // controller.positionLimitHiHard = dataPtr->getHardLimitHi();
+ velController.positionLimitHiSoft = jointData->getSoftLimitHi();
+ // controller.positionLimitLoHard = dataPtr->getHardLimitLo();
+ velController.positionLimitLoSoft = jointData->getSoftLimitLo();
+ this->isLimitless = jointData->isLimitless();
+}
+
+JointPWMVelocityControllerV2::~JointPWMVelocityControllerV2() noexcept(true)
+{
+ stopRequested = true;
+ try
+ {
+ threadHandle.join();
+ }
+ catch (...)
+ {
+
+ }
+}
+
+void JointPWMVelocityControllerV2::rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
+{
+ if (target.isValid())
+ {
+
+ {
+ auto currentPosition = dataPtr->getPosition();
+ if (isLimitless)
+ {
+ velController.currentPosition = velController.positionLimitHiSoft - (velController.positionLimitHiSoft - velController.positionLimitLoSoft) * 0.5;
+ // ARMARX_INFO << VAROUT(velController.currentPosition) << VAROUT(velController.positionLimitLoSoft) << VAROUT(velController.positionLimitHiSoft);
+ }
+ else
+ {
+ velController.currentPosition = currentPosition;
+ }
+ velController.currentV = lastTargetVelocity;
+ velController.dt = timeSinceLastIteration.toSecondsDouble();
+ velController.targetV = target.velocity;
+ double newVel = velController.run();
+
+
+ // ARMARX_INFO << deactivateSpam(1) << VAROUT(newVel) << VAROUT(target.velocity);
+ if (std::isnan(newVel))
+ {
+ newVel = 0;
+ }
+ // float newVel = target.velocity;
+ if ((currentPosition > velController.positionLimitHiSoft && target.velocity > 0)
+ || (currentPosition < velController.positionLimitLoSoft && target.velocity < 0))
+ {
+ newVel = 0;
+ ARMARX_INFO << deactivateSpam(1) << "Breaking now at " << dataPtr->getPosition() << " pwm: " << dataPtr->getTargetPWM();
+ }
+
+
+ auto targetPWM = static_cast<int>(controller.run(timeSinceLastIteration, dataPtr->getVelocity(), newVel));
+
+ dataPtr->setTargetPWM(targetPWM);
+
+ lastTargetVelocity = newVel;
+
+ // ARMARX_RT_LOGF_INFO("target velocity: %.3f, current velocity: %.3f, target pwm: %d, kp: %.3f ki: %f, kd: %f, max acc: %.3f",
+ // target.velocity, dataPtr->getVelocity(), targetPWM, pid->Kp, pid->Ki, pid->Kd, controller.acceleration).deactivateSpam(1);
+
+ }
+ }
+ else
+ {
+ ARMARX_ERROR << "invalid target set for actor";
+ }
+}
+
+ControlTargetBase* JointPWMVelocityControllerV2::getControlTarget()
+{
+ return ⌖
+}
+
+void JointPWMVelocityControllerV2::rtPreActivateController()
+{
+ lastTargetVelocity = dataPtr->getVelocity();
+ controller.reset(dataPtr->getVelocity());
+}
+
+void JointPWMVelocityControllerV2::rtPostDeactivateController()
+{
+ ARMARX_RT_LOGF_INFO("Setting PWM to 0");
+ dataPtr->setTargetPWM(0);
+}
+
+StringVariantBaseMap JointPWMVelocityControllerV2::publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const
+{
+
+ if (!remoteGui && !threadHandle.isValid())
+ {
+ // threadHandle = Application::getInstance()->getThreadPool()->runTask([this]
+ // {
+ // std::string guiTabName;
+ // while (!stopRequested)
+ // {
+ // ManagedIceObjectPtr object;
+ // ARMARX_IMPORTANT << deactivateSpam(1) << "Trying to get parent";
+ // try
+ // {
+ // object = ManagedIceObjectPtr::dynamicCast(getParent().getOwner());
+ // ARMARX_CHECK_EXPRESSION(object);
+ // remoteGui = object->getProxy<RemoteGuiInterfacePrx>("RemoteGuiProvider", false, "", false);
+ // if (!remoteGui)
+ // {
+ // return;
+ // }
+ // ARMARX_IMPORTANT << deactivateSpam(1) << "Got Proxy";
+ // guiTabName = getParent().getDeviceName() + getControlMode();
+ // break;
+ // }
+ // catch (...)
+ // {
+ // handleExceptions();
+ // sleep(1);
+ // }
+
+ // }
+ // if (remoteGui)
+ // {
+ // ARMARX_IMPORTANT << "Creating GUI " << guiTabName;
+ // using namespace RemoteGui;
+
+
+
+ // auto vLayout = makeVBoxLayout();
+
+ // {
+ // WidgetPtr KpLabel = makeTextLabel("Kp: ");
+
+ // WidgetPtr KiSlider = makeFloatSlider("KpSlider")
+ // .min(0.0f).max(5000.0f)
+ // .value(config->p);
+ // WidgetPtr line = makeHBoxLayout()
+ // .children({KpLabel, KiSlider});
+
+ // vLayout.addChild(line);
+
+ // }
+
+
+ // {
+ // WidgetPtr KiLabel = makeTextLabel("Ki: ");
+ // WidgetPtr KiSlider = makeFloatSlider("KiSlider")
+ // .min(0.0f).max(50000.0f)
+ // .value(config->i);
+
+ // WidgetPtr line = makeHBoxLayout()
+ // .children({KiLabel, KiSlider});
+
+ // vLayout.addChild(line);
+
+ // }
+
+ // {
+ // WidgetPtr KdLabel = makeTextLabel("Kd: ");
+ // WidgetPtr KdSlider = makeFloatSlider("KdSlider")
+ // .min(0.0f).max(50.0f)
+ // .steps(100)
+ // .value(config->d);
+
+ // WidgetPtr line = makeHBoxLayout()
+ // .children({KdLabel, KdSlider});
+
+ // vLayout.addChild(line);
+ // vLayout.addChild(new VSpacer);
+ // }
+
+ // // WidgetPtr spin = makeFloatSpinBox("KpSpin")
+ // // .min(0.0f).max(2.0f)
+ // // .steps(20).decimals(2)
+ // // .value(0.4f);
+
+
+
+
+ // WidgetPtr groupBox = makeGroupBox("GroupBox")
+ // .label("Group")
+ // .child(vLayout);
+
+ // remoteGui->createTab(guiTabName, groupBox);
+
+ // while (!stopRequested)
+ // {
+ // RemoteGui::TabProxy tab(remoteGui, guiTabName);
+ // tab.receiveUpdates();
+ // this->controller.pid->Kp = tab.getValue<float>("KpSlider").get();
+ // this->controller.pid->Ki = tab.getValue<float>("KiSlider").get();
+ // this->controller.pid->Kd = tab.getValue<float>("KdSlider").get();
+ // usleep(100000);
+ // }
+ // }
+
+ // });
+ }
+ return {{"lastTargetVelocity", new Variant(lastTargetVelocity.load())},
+ {"filteredVelocity", new Variant(controller.lastActualVelocity.load())},
+ {"pidIntegralCV", new Variant(controller.pid->integral * controller.pid->Ki)},
+ {"pidPropCV", new Variant(controller.pid->previousError * controller.pid->Kp)},
+ {"pidDiffCV", new Variant(controller.pid->derivative * controller.pid->Kd)}
+
+ };
+}
+
+
+
+
+
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.h b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.h
new file mode 100644
index 000000000..45328c0c5
--- /dev/null
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMVelocityControllerV2.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include <memory>
+#include <chrono>
+
+#include <RobotAPI/libraries/core/PIDController.h>
+
+#include <RobotAPI/components/units/RobotUnit/JointControllers/JointController.h>
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/BasicControllers.h>
+#include "../KITGripperBasisBoardData.h"
+#include <ArmarXGui/interface/RemoteGuiInterface.h>
+#include <ArmarXCore/core/services/tasks/ThreadPool.h>
+
+#include <ArmarXCore/observers/filters/AverageFilter.h>
+#include "PWMVelocityController.h"
+
+
+namespace armarx
+{
+ using KITGripperBasisBoardPtr = std::shared_ptr<class KITGripperBasisBoard>;
+
+
+ class JointPWMVelocityControllerV2;
+ typedef std::shared_ptr<JointPWMVelocityControllerV2> JointPWMVelocityControllerV2Ptr;
+
+ class JointPWMVelocityControllerV2 : public JointController
+ {
+ public:
+ JointPWMVelocityControllerV2(const std::string deviceName, KITGripperBasisBoardPtr board, ActorDataV2Ptr jointData, PWMVelocityControllerConfigurationCPtr velocityControllerConfigDataPtr);
+ ~JointPWMVelocityControllerV2() noexcept(true);
+
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override ;
+ ControlTargetBase* getControlTarget() override;
+
+ void rtPreActivateController() override;
+ protected:
+ PWMVelocityControllerConfigurationCPtr config;
+ PWMVelocityController controller;
+ VelocityControllerWithAccelerationAndPositionBounds velController;
+
+ ControlTarget1DoFActuatorVelocity target;
+
+ std::atomic<double> lastTargetVelocity;
+ bool isLimitless;
+
+ ActorDataV2Ptr dataPtr;
+ KITGripperBasisBoardPtr board;
+ const std::string deviceName;
+ size_t actorIndex = 0;
+ mutable RemoteGuiInterfacePrx remoteGui;
+ bool stopRequested = false;
+ mutable ThreadPool::Handle threadHandle;
+ // JointController interface
+ protected:
+ void rtPostDeactivateController() override;
+
+ // JointController interface
+ public:
+ StringVariantBaseMap publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const override;
+ };
+}
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.cpp
index 28c0f7569..d690f513d 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.cpp
@@ -38,7 +38,7 @@ namespace armarx
{
auto connectorIndex = motorNode.attribute_as_uint("connector");
auto name = motorNode.attribute_value("name");
- auto enabled = motorNode.attribute_as_bool("enabled", "true", "false");
+ // auto enabled = motorNode.attribute_as_bool("enabled", "true", "false");
auto conversionNode = defaultConfigurationNode.first_node("KITGripperBasisBoardConversionParametersDefaultConfig").
add_node_at_end(motorNode.first_node("ConversionParameters"));
auto configNode = defaultConfigurationNode.first_node("KITGripperActorDefaultConfiguration").
@@ -49,7 +49,7 @@ namespace armarx
auto positionControlEnabled = configNode.first_node("PositionControlEnabled").value_as_bool("1", "0");
auto velocityControlEnabled = configNode.first_node("VelocityControlEnabled").value_as_bool("1", "0");
ARMARX_IMPORTANT << "Creating actor data class for " << name << " at index " << connectorIndex;
- auto initActorData = [&](int* position, int* velocity, int* torque, int* targetPWM)
+ auto initActorData = [&](int* position, int* velocity, int* targetPWM)
{
actorData.at(connectorIndex).reset(new ActorData);
actorData.at(connectorIndex)->targetPWMPtr.init(targetPWM, conversionNode.first_node("pwm"));
@@ -57,7 +57,7 @@ namespace armarx
actorData.at(connectorIndex)->position.init(&actorData.at(connectorIndex)->rawABSEncoderTicks, conversionNode.first_node("position"));
actorData.at(connectorIndex)->relativePosition.init(position, conversionNode.first_node("relativePosition"));
actorData.at(connectorIndex)->velocity.init(velocity, conversionNode.first_node("velocity"));
- actorData.at(connectorIndex)->torque.init(torque, conversionNode.first_node("torque"));
+ // actorData.at(connectorIndex)->torque.init(torque, conversionNode.first_node("torque"));
actorData.at(connectorIndex)->robotNode = robot->getRobotNode(name);
actorData.at(connectorIndex)->velocityTicks = velocity;
actorData.at(connectorIndex)->positionControlEnabled = positionControlEnabled;
@@ -74,16 +74,30 @@ namespace armarx
actorData.at(connectorIndex)->motorInertia = torqueEstimatorNode.first_node("motorInertia").value_as_float();
// ARMARX_IMPORTANT << "get decoupling factor: " << actorData.at(connectorIndex)->parallelGripperDecouplingFactor << " and enabled: " << actorData.at(connectorIndex)->parallelControlEnabled;
};
+ // switch (connectorIndex)
+ // {
+ // case 0:
+ // initActorData(&sensorOUT->motor1_current_pos, &sensorOUT->motor1_current_speed, &sensorOUT->motor1_current_torque, &sensorIN->motor1_target_pwm);
+ // break;
+ // case 1:
+ // initActorData(&sensorOUT->motor2_current_pos, &sensorOUT->motor2_current_speed, &sensorOUT->motor2_current_torque, &sensorIN->motor2_target_pwm);
+ // break;
+ // case 2:
+ // initActorData(&sensorOUT->motor3_current_pos, &sensorOUT->motor3_current_speed, &sensorOUT->motor3_current_torque, &sensorIN->motor3_target_pwm);
+ // break;
+ // default:
+ // throw LocalException("Motor index out of range: ") << connectorIndex;
+ // }
switch (connectorIndex)
{
case 0:
- initActorData(&sensorOUT->motor1_current_pos, &sensorOUT->motor1_current_speed, &sensorOUT->motor1_current_torque, &sensorIN->motor1_target_pwm);
+ initActorData(&sensorOUT->motor1_current_pos, &sensorOUT->motor1_current_speed, &sensorIN->motor1_target_pwm);
break;
case 1:
- initActorData(&sensorOUT->motor2_current_pos, &sensorOUT->motor2_current_speed, &sensorOUT->motor2_current_torque, &sensorIN->motor2_target_pwm);
+ initActorData(&sensorOUT->motor2_current_pos, &sensorOUT->motor2_current_speed, &sensorIN->motor2_target_pwm);
break;
case 2:
- initActorData(&sensorOUT->motor3_current_pos, &sensorOUT->motor3_current_speed, &sensorOUT->motor3_current_torque, &sensorIN->motor3_target_pwm);
+ initActorData(&sensorOUT->motor3_current_pos, &sensorOUT->motor3_current_speed, &sensorIN->motor3_target_pwm);
break;
default:
throw LocalException("Motor index out of range: ") << connectorIndex;
@@ -192,7 +206,7 @@ namespace armarx
d.velocity.value = d.velocity.value + d2->velocity.value * d.parallelGripperDecouplingFactor;
}
- d.torque.read();
+ // d.torque.read();
d.currentMaxPWM = std::round(*d.velocityTicks * d.currentPWMBoundGradient + d.currentPWMBoundOffset);
d.currentMinPWM = std::round(*d.velocityTicks * d.currentPWMBoundGradient - d.currentPWMBoundOffset);
// d.acceleration.read();
@@ -265,7 +279,7 @@ namespace armarx
float ActorData::getTorque() const
{
- return torque.value;
+ return 0; //torque.value;
}
float ActorData::getSoftLimitHi() const
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.h b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.h
index bdab8fb83..480b3b15e 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.h
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardData.h
@@ -45,6 +45,15 @@ namespace armarx
svi.addBaseClass<SensorValueIMU>();
return svi;
}
+ SensorValueKITGripperBasisBoard() = default;
+ SensorValueKITGripperBasisBoard(SensorValueKITGripperBasisBoard&&) = default;
+ SensorValueKITGripperBasisBoard(const SensorValueKITGripperBasisBoard&) = default;
+ SensorValueKITGripperBasisBoard& operator=(SensorValueKITGripperBasisBoard&& other)
+ {
+ *this = other;
+ return *this;
+ }
+ SensorValueKITGripperBasisBoard& operator=(const SensorValueKITGripperBasisBoard&) = default;
};
@@ -129,7 +138,7 @@ namespace armarx
rtfilters::AverageFilter velocityFilter;
float absoluteEncoderVelocity = 0.0f;
float lastAbsolutePosition = std::nanf("");
- LinearConvertedValue<int32_t> torque;
+ // LinearConvertedValue<int32_t> torque;
LinearConvertedValue<int32_t> targetPWM;
int32_t* velocityTicks;
int32_t currentMaxPWM = 0;
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.cpp
index fa31a5a3c..561ae4da0 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.cpp
@@ -30,9 +30,6 @@
namespace armarx
{
-
-
-
KITGripperBasisBoardSlave::KITGripperBasisBoardSlave(const SlaveIdentifier slaveIdentifier, uint16_t slaveNumber) :
AbstractSlaveWithInputOutput(slaveIdentifier, slaveNumber)
{
@@ -73,8 +70,8 @@ namespace armarx
}
/**
- * register this class in the super class factory
- */
+ * register this class in the super class factory
+ */
KITGripperBasisBoardFactory::SubClassRegistry KITGripperBasisBoardFactory::registry(KITGripperBasisBoardFactory::getName(), &KITGripperBasisBoardFactory::createInstance);
KITGripperBasisBoardFactory::SharedPointerType KITGripperBasisBoardFactory::createInstance(EtherCATFactoryArgs args)
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.h b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.h
index 7966df46e..fb5a71215 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.h
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoardSlave.h
@@ -37,13 +37,13 @@ namespace armarx
{
u_int8_t RawABSEncoderValueBytes[4];
u_int8_t RawABSEncoderValueCRC;
- int16_t pad1;
- int8_t pad2;
+ int8_t pad1;
+ int16_t pad2;
u_int8_t RawABSEncoder2ValueBytes[4];
u_int8_t RawABSEncoder2ValueCRC;
- int16_t pad3;
- int8_t pad4;
+ int8_t pad3;
+ int16_t pad4;
int16_t IMUVector1[3];
int16_t IMUVector2[3];
@@ -53,19 +53,21 @@ namespace armarx
int16_t IMUQuaternionZ;
int8_t IMUTemperature;
- int16_t pad5;
- int8_t pad6;
+ int8_t pad5;
+ int16_t pad6;
int32_t motor1_current_pos;
int32_t motor1_current_speed; // ticks pro milliseconds
- int32_t motor1_current_torque;
int32_t motor2_current_pos;
int32_t motor2_current_speed;
- int32_t motor2_current_torque;
int32_t motor3_current_pos;
int32_t motor3_current_speed;
- int32_t motor3_current_torque;
+
+ uint16_t depth1;
+ uint16_t depth2;
+ uint16_t depth3;
+ uint16_t depth4;
} __attribute__((__packed__));
@@ -80,14 +82,8 @@ namespace armarx
uint16_t LED_4;
int32_t motor1_target_pwm;
- int32_t motor1_target_speed;
- int32_t motor1_target_torque;
int32_t motor2_target_pwm;
- int32_t motor2_target_speed;
- int32_t motor2_target_torque;
int32_t motor3_target_pwm;
- int32_t motor3_target_speed;
- int32_t motor3_target_torque;
int32_t motor4_target_pwm;
} __attribute__((__packed__));
@@ -96,7 +92,7 @@ namespace armarx
class KITGripperBasisBoardSlave :
- public AbstractSlaveWithInputOutput<KITGripperBasisBoardIN_t, KITGripperBasisBoardOUT_t>
+ public AbstractSlaveWithInputOutput<KITGripperBasisBoardIN_t, KITGripperBasisBoardOUT_t>
{
public:
KITGripperBasisBoardSlave(const armarx::SlaveIdentifier slaveIdentifier, uint16_t slaveNumber);
@@ -126,5 +122,21 @@ namespace armarx
};
using KITGripperBasisBoardFactoryPtr = std::shared_ptr<KITGripperBasisBoardFactory>;
+
+ // class KITGripperBasisBoardFactory : public EtherCATDeviceFactory
+ // {
+ // KITGripperBasisBoardFactory() {}
+ // // AbstractFactoryMethod
+ // public:
+ // static std::string getName()
+ // {
+ // return "KITGripperBasisBoardFactory";
+ // }
+ // private:
+ // static SubClassRegistry registry;
+ // static SharedPointerType createInstance(EtherCATFactoryArgs args);
+ // };
+ // using KITGripperBasisBoardFactoryPtr = std::shared_ptr<KITGripperBasisBoardFactory>;
+
} // namespace armarx
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.cpp
index beba4292d..a59f2eede 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.cpp
@@ -1,5 +1,54 @@
#include "TorqueEstimation.h"
+bool MotorTorqueEstimator::fullyConnectedLayer(size_t layerIndex, const float* weights)
+{
+ size_t dimIn = layerDimensions[layerIndex];
+ size_t dimOut = layerDimensions[layerIndex + 1];
+ std::cout << "dim in: " << dimIn << std::endl;
+
+ float buf = 0.0;
+ for (size_t index_out = 0; index_out < dimOut; index_out++)
+ {
+
+ buf += layers[layerIndex](index_out) * weights[index_out];
+
+ // buf += fc1Bias[index_out];
+ if (buf < 0) //relu
+ {
+ buf = 0.0;
+ }
+ layers[layerIndex](index_out) = buf;
+ buf = 0.;
+ }
+ return true;
+}
+
+bool MotorTorqueEstimator::fullyConnectedLayer(size_t layerIndex, const float** weights)
+{
+
+ size_t dimIn = layerDimensions[layerIndex];
+ size_t dimOut = layerDimensions[layerIndex + 1];
+ std::cout << "dim in: " << dimIn << std::endl;
+
+ float buf = 0.0;
+ for (size_t index_out = 0; index_out < dimOut; index_out++)
+ {
+ for (size_t index_in = 0; index_in < dimIn; index_in++)
+ {
+ buf += layers[layerIndex](index_in) * weights[index_in][index_out];
+ }
+
+ // buf += fc1Bias[index_out];
+ if (buf < 0) //relu
+ {
+ buf = 0.0;
+ }
+ layers[layerIndex](index_out) = buf;
+ buf = 0.;
+ }
+ return true;
+}
+
bool MotorTorqueEstimator::fcl1()
{
uint8_t outFNum = sizeof imgFcl1 / sizeof(float);
@@ -7,7 +56,7 @@ bool MotorTorqueEstimator::fcl1()
uint8_t outF = 0;
uint8_t inF = 0;
float buf = 0.0;
- memset(imgFcl1, 0.0, sizeof imgFcl1 / sizeof(float));
+ memset(imgFcl1, 0.0, sizeof(imgFcl1));
for (outF = 0; outF < outFNum; outF++)
{
@@ -35,7 +84,7 @@ bool MotorTorqueEstimator::fcl2()
uint8_t outF = 0;
uint8_t inF = 0;
float buf = 0.0;
- memset(imgFcl2, 0.0, sizeof imgFcl2 / sizeof(float));
+ memset(imgFcl2, 0.0, sizeof(imgFcl2));
for (outF = 0; outF < outFNum; outF++)
{
@@ -62,7 +111,7 @@ bool MotorTorqueEstimator::fcl3()
uint8_t outF = 0;
uint8_t inF = 0;
float buf = 0.0;
- memset(imgFcl3, 0.0, sizeof imgFcl3 / sizeof(float));
+ memset(imgFcl3, 0.0, sizeof(imgFcl3));
for (outF = 0; outF < outFNum; outF++)
{
@@ -88,7 +137,7 @@ bool MotorTorqueEstimator::fcl4()
uint8_t outF = 0;
uint8_t inF = 0;
float buf = 0.0;
- memset(imgFcl4, 0.0, sizeof imgFcl4 / sizeof(float));
+ memset(imgFcl4, 0.0, sizeof(imgFcl4));
for (outF = 0; outF < outFNum; outF++)
{
@@ -115,7 +164,7 @@ bool MotorTorqueEstimator::fcl5()
uint8_t outF = 0;
uint8_t inF = 0;
float buf = 0.0;
- memset(imgFcl5, 0.0, sizeof imgFcl5 / sizeof(float));
+ memset(imgFcl5, 0.0, sizeof(imgFcl5));
for (outF = 0; outF < outFNum; outF++)
{
@@ -142,7 +191,7 @@ bool MotorTorqueEstimator::fcl6()
uint8_t outF = 0;
uint8_t inF = 0;
float buf = 0.0;
- memset(imgFcl6, 0.0, sizeof imgFcl6 / sizeof(float));
+ memset(imgFcl6, 0.0, sizeof(imgFcl6));
for (outF = 0; outF < outFNum; outF++)
{
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.h b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.h
index 09950a546..48f7d3c47 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.h
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimation.h
@@ -1,6 +1,6 @@
#pragma once
-/* Includes ------------------------------------------------------------------*/
+#include <ArmarXCore/core/logging/Logging.h>
#include "TorqueEstimationWeights.h"
#include <stdio.h>
#include <stdint.h>
@@ -9,9 +9,11 @@
#include <iostream>
#include <memory>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <Eigen/Dense>
using namespace armarx;
using namespace std;
+using namespace torqueEstimation;
class MotorTorqueEstimator
{
@@ -25,8 +27,23 @@ public:
vel_old = 0.0;
last_time = 0.0;
lowpassFilterFactor = 0.7;
+
+ for (size_t i = 0; i < layerDimensions.size(); i++)
+ {
+ layers.push_back(Eigen::VectorXf::Zero(layerDimensions[i]));
+ }
}
~MotorTorqueEstimator() {}
+ void test(float** t)
+ {
+ for (size_t i = 0; i < 3; i++)
+ {
+ std::cout << "test size of array: " << **(t + i) << std::endl;
+ }
+ }
+ bool fullyConnectedLayer(size_t layerIndex, const float* weights);
+ bool fullyConnectedLayer(size_t layerIndex, const float** weights);
+
bool fcl1();
bool fcl2();
bool fcl3();
@@ -60,6 +77,9 @@ private:
double last_time;
float lowpassFilterFactor;
+ std::vector<int> layerDimensions{5, 32, 32, 32, 16, 8, 1};
+ std::vector<Eigen::VectorXf> layers;
+
float imgIn[5];
float imgFcl1[32];
float imgFcl2[32];
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimationWeights.h b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimationWeights.h
index 4353434f4..879c577c1 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimationWeights.h
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/Misc/TorqueEstimationWeights.h
@@ -1,188 +1,189 @@
-// written from class_nn_T_prediction_11_Delta_simple2.py; testName:aktor_l
-//2018-12-20 15:15
#ifndef __WEIGHTS_H
#define __WEIGHTS_H
+#include <Eigen/Dense>
-static float vel_factor = 459.0;
-static float pwm_factor = 1700.0;
-
-const float fc1Weights[5][32] =
-{
- {-0.2055357695f, 0.1997956634f, 0.0573679060f, 5.6070003510f, -0.0359823219f, -0.6203082204f, -3.5134258270f, -0.0713983923f, 0.0685816705f, -0.0381882004f, -1.7217775583f, -3.8536903858f, -0.3756493032f, -0.1594707817f, -6.3813128471f, -0.3226724863f, 0.2063246369f, -0.6387553811f, 0.0372939110f, 3.8864912987f, 1.4991726875f, 4.3318767548f, -1.9102532864f, -0.0856776312f, -0.5104419589f, 0.3844818473f, -0.5385549664f, 0.0184886176f, -0.2233840525f, 0.3443737030f, -0.1556139588f, 8.5595130920f},
- {0.2853892446f, 0.9347148538f, 0.2580135465f, -5.0483689308f, -0.1692553312f, 0.6664142609f, -0.8050979972f, -0.1831562817f, 0.2196862400f, 0.0588629805f, 2.8238334656f, 4.0935006142f, 0.3776662350f, 0.1199822798f, 6.6613926888f, -0.1866912246f, 0.0059743905f, -4.2951517105f, -0.1723812819f, -3.6761276722f, 1.8258478642f, -1.4123811722f, 1.8817381859f, -0.3389021456f, 0.4059905112f, -0.3896758854f, 0.7206512094f, 0.2583603859f, -2.8177876472f, -0.2914963961f, 0.4590151906f, -9.9321269989f},
- {-0.5632920861f, 0.1988572478f, -0.5542681813f, 5.7822799683f, 0.3820048273f, -0.2525918782f, -3.3970746994f, 0.2208536267f, 0.0045266999f, 0.3900515437f, -1.7668331861f, -3.6709997654f, -0.2005964518f, 0.1454627365f, -6.3249039650f, 0.2582260370f, -0.2433532774f, -0.9390440583f, -0.5737978816f, 4.1182165146f, 1.6590707302f, 4.8758029938f, -1.8478810787f, 0.0048876349f, 0.1774665117f, -0.1789420843f, -0.5673617721f, -0.2723075449f, -0.3745986819f, 0.0240579937f, -0.2824915946f, 8.3010101318f},
- {0.4449025393f, 0.6115619540f, 0.0187926833f, -5.4022917747f, 0.0334641673f, 0.4216177166f, -0.8479185700f, -0.4422490299f, -0.2795608342f, -0.3466927111f, 2.2280035019f, 3.5217893124f, 0.1864205599f, -0.1767526865f, 6.5718340874f, 0.3395559490f, -0.0630193949f, -4.2917470932f, 0.4928318858f, -3.4380824566f, 2.2824761868f, -1.3895356655f, 1.8980522156f, 0.3309353590f, 0.0092654871f, 0.2050092816f, 0.4185230136f, -0.0931341946f, -3.0571875572f, -0.0199668277f, 0.0238261241f, -10.0575485229f},
- {-0.0596951246f, -1.8140755892f, -0.1749392897f, 0.2104561627f, -0.2132787555f, -0.1574463993f, -6.4865732193f, -0.7267509699f, -0.1174281165f, -0.0856533423f, 0.4403370619f, -0.6915963888f, -0.2986042798f, -0.3891125619f, 1.3234760761f, 0.0340486430f, -0.0694809407f, -7.1216664314f, -0.1790750027f, 1.6705595255f, -5.9638838768f, -0.9045498967f, -0.1985210180f, -0.1773930788f, -0.1488362402f, -0.0660701320f, -0.0532661825f, -0.1185604334f, 0.3091884255f, -0.1427213848f, -0.0880882740f, 1.5660281181f}
-};
-
-
-const float fc1Bias[32] =
-{-0.2996839881f, -2.2546701431f, -0.5477045178f, -1.2242631912f, -0.2746987045f, -0.5186939240f, -6.1057929993f, -0.9974002242f, -0.2025506645f, -0.2643158436f, -0.5174910426f, -0.6349564195f, -0.5265557766f, -0.5465639234f, -0.8746579289f, -0.2214775383f, -0.3936641812f, -9.3305616379f, -0.3976268172f, -0.0949812457f, -4.9294414520f, -0.2506873310f, -1.1473840475f, -0.2789034545f, -0.2843038142f, -0.1568380445f, -0.3574894667f, -0.1897565275f, -0.0161396451f, -0.5330590010f, -0.3432305753f, -2.3037126064f};
-
-
-const float fc2Weights[32][32] =
-{
- {0.7028352022f, -0.2518471181f, -0.3251887262f, -0.1293392181f, -0.0480363145f, -0.2164561749f, -0.1114568934f, 0.0847787485f, 0.2538841367f, 0.0906840563f, 0.2075847685f, 0.0800402164f, -0.2112799883f, -0.3601601422f, -0.2693049312f, -0.3371258378f, 0.1860402822f, 0.1293898672f, 0.5152844191f, -0.0005433710f, -0.3649958968f, -0.5045146346f, 0.7517039180f, 0.0467921384f, -0.0150561901f, -0.2420729399f, -0.2145421207f, -0.7155304551f, 0.1590870321f, -1.1922683716f, 0.1453628838f, -0.3018942773f},
- {0.4329630733f, 0.2430671006f, -0.8269199729f, -0.1718535721f, 0.6189324260f, -1.1788749695f, 2.3799111843f, -1.0581681728f, -1.0104187727f, -0.6895720959f, 0.6333325505f, 0.1227911711f, -1.3420652151f, 0.0161968544f, -0.9277707934f, -1.6182627678f, 3.4310810566f, -0.0272786003f, 0.9764053226f, 1.7808814049f, -1.4981951714f, -0.2589629292f, 0.0806718767f, -0.0988150090f, 0.0121101709f, -3.1666336060f, -0.9463910460f, -1.3826171160f, -0.1921611279f, -0.4246963561f, 0.0819954872f, -1.1248966455f},
- {0.3439708948f, 0.1729307026f, -0.4266345203f, -0.1223015115f, -0.2364580184f, 0.0005747200f, 0.1383670121f, -0.0798279345f, -0.0409396328f, 0.2926900089f, 0.4414319098f, -0.0774125233f, -0.0639059693f, 0.0000417514f, -0.3764672279f, -0.2038611472f, 0.1025535613f, -0.2993794680f, 0.0265453998f, -0.0355118513f, 0.2918146253f, -0.4358098209f, 0.0194903836f, -0.0299784839f, -0.2588784993f, -0.2383993119f, -0.2728497982f, -0.3301697373f, 0.1411939114f, 0.1025134176f, -0.3637280166f, 0.1707316041f},
- {-0.3416239917f, -0.1238532588f, 0.0436132401f, -0.3475806415f, -2.6594336033f, -0.9691415429f, -2.7146120071f, -0.4172722399f, -5.5016303062f, -3.0360279083f, -0.4493477941f, -0.3950566947f, -1.1143312454f, 0.0175548382f, 0.5904526711f, -2.4258356094f, -6.8880228996f, -0.3979260027f, -0.5621471405f, -8.3594980240f, -0.5225185752f, -0.0404085517f, 2.6085379124f, 0.0378435813f, -0.0098032495f, 2.7800383568f, 2.0576617718f, -1.8591514826f, -0.7343788147f, -0.4695331156f, 0.1112806350f, 1.4430732727f},
- {-0.0525006801f, 0.3783730865f, 0.1891198754f, 0.0213207081f, -0.2073568851f, 0.1397801638f, 0.0859736055f, 0.2507794499f, 0.1215454638f, -0.1463970691f, 0.1565153897f, 0.0612230189f, 0.2093681097f, 0.1229698434f, -0.0846480504f, -0.2200313061f, 0.2009770274f, 0.0123162027f, -0.0025048242f, 0.0691637024f, -0.0181692336f, 0.2928285897f, -0.0372800417f, -0.3242078722f, 0.2153842747f, 0.0912938938f, 0.0259480923f, 0.2408835292f, -0.0780527815f, -0.0694554597f, -0.5314068198f, -0.3713911176f},
- {-0.3659447432f, -1.0637227297f, -0.6574027538f, 0.1915589571f, -0.0923616737f, -0.6854819655f, -0.7665759921f, -0.3916678429f, 0.0046403264f, 0.1432497799f, -0.9219073057f, 0.3549784422f, -0.1066768840f, 0.0990313441f, -0.9819003344f, -0.6210372448f, 0.1118606776f, 0.2755944431f, -0.8569695354f, -0.1976287961f, -0.2853681743f, -0.6686331034f, 0.2660720646f, -0.1277324557f, 0.0465747900f, 0.4344924688f, -0.2714323103f, 0.2368822843f, -0.0763014555f, -0.2818318605f, -0.3344349861f, 0.1119496822f},
- {-8.4284162521f, -0.5330117941f, 0.2430908680f, -0.9680790901f, 17.7502479553f, -11.1728906631f, -9.4553775787f, 6.4060249329f, -19.9450950623f, -9.8665761948f, -0.4943230152f, -0.0203626100f, 3.4065568447f, 0.1984576881f, 0.1283037961f, -1.1749160290f, -14.7431478500f, -0.9983112216f, -2.9252219200f, -6.1029782295f, -3.7169921398f, 0.0391248949f, -5.0480856895f, 0.1063139364f, -0.0771418661f, 9.4767627716f, -4.7266154289f, 2.5198585987f, -0.2968094051f, 0.0457970649f, -0.0931691378f, 5.0110268593f},
- {-0.3695061207f, 0.1182122529f, -0.1756125242f, -1.9989162683f, -0.1902875155f, -0.5620827079f, -1.4479638338f, -0.0801911950f, 0.1420777738f, -1.3847892284f, -0.7704963088f, 0.0931626707f, -0.1455746740f, -0.2081220299f, -0.1101334319f, -0.1995007843f, 0.1743076593f, -0.2777135074f, -0.5316527486f, -0.7597036958f, 0.1699331254f, -0.0814936012f, -0.1331967264f, -0.1476776600f, -0.1340599060f, -0.1023281068f, -0.0449587218f, 0.5310350657f, -0.4073688686f, -0.1218718365f, -0.3036770225f, 0.5314686298f},
- {-0.6574068069f, -0.4164880514f, -0.0907117650f, 0.0752569512f, -0.1371883452f, -0.0603592172f, -0.4597431421f, 0.1653049141f, -0.2182130367f, -0.1304199547f, 0.1074393615f, -0.0336866528f, -0.2670994699f, -0.0481679738f, -0.0528879240f, -0.0296069179f, 0.2772396803f, -0.0399867371f, 0.0935128778f, -0.2692438662f, 0.1292352676f, -0.4318626225f, 0.0235706642f, -0.0248435289f, -0.0899237916f, 0.2455069125f, -0.3291662335f, -1.0510460138f, 0.0582070835f, -0.0467071161f, 0.2144248039f, 0.2426371127f},
- {-0.3157160878f, -0.4219513237f, 0.0111433808f, 0.0273274425f, 0.2885468304f, 0.4742646515f, 0.4801633060f, -0.0572001375f, -0.3388701677f, -0.6163141727f, -0.3216553330f, -0.1361154020f, -0.2719146311f, -0.0309467372f, 0.0720715001f, -0.5097295642f, 0.1592271924f, -0.1735037714f, 0.2940475941f, -0.3154088259f, 0.1547768563f, -0.3129318058f, -0.4059058130f, -0.1461700797f, -0.2799991965f, -0.2784145772f, 0.2787654102f, -0.7949113846f, -0.3778579533f, -0.0571825393f, 0.3065904379f, 0.5446800590f},
- {-11.8102788925f, -0.5548009276f, -0.4933342040f, -0.0146987140f, 14.7732305527f, -3.3242385387f, -4.3986229897f, 0.9681160450f, -11.3604030609f, -8.9482917786f, -0.5679091215f, -1.4008077383f, -12.8347654343f, -0.3398197591f, -2.0602822304f, -10.3154926300f, 3.3564658165f, -0.3715273142f, -1.1404612064f, -0.5240572095f, -5.8742475510f, -0.8057600856f, -1.5432174206f, -0.0802463219f, -0.1602455229f, -0.8414320946f, -4.2538943291f, 4.6012043953f, -0.2584485114f, -0.3790409267f, -0.7869391441f, 0.8633705378f},
- {-1.0586528778f, -0.1419243515f, -0.0970374048f, 0.2961471677f, 3.8987035751f, -2.2678067684f, -1.4299131632f, 0.7676140070f, -9.9476909637f, 5.8023109436f, -3.9433639050f, -0.4502748251f, 0.8263508677f, -0.2590869963f, -0.0040865224f, -2.3295035362f, 0.8782870770f, -0.6496896148f, 0.4475262761f, 2.5988130569f, 0.7252852321f, -0.4031449258f, -0.9870574474f, -0.3840217292f, -0.2451169640f, 1.9900392294f, 1.5628668070f, 0.8736712933f, -0.0124829793f, 0.0401136354f, -0.3562023640f, 0.2699736655f},
- {-0.0120646609f, 0.3022353053f, -0.1795586795f, -0.0325300470f, 0.1483502388f, -0.3772916794f, -0.0676282048f, 0.2362668216f, -0.0225414429f, 0.4359962046f, -0.0775927231f, -0.0436186716f, -0.4518926442f, 0.1925306767f, -0.0252785441f, -0.2602519393f, 0.0216296762f, 0.0660978556f, 0.0655388087f, 0.1850759685f, 0.1910172254f, 0.1433989257f, 0.0925811827f, -0.1367113143f, -0.3113737106f, 0.0142191835f, -0.4499391317f, -0.6342935562f, 0.0016022279f, -0.0294085406f, -0.4484280348f, -0.1730211675f},
- {-1.0707663298f, 1.4295915365f, -1.2444705963f, -0.1815876514f, -0.2770722806f, 0.3313229382f, -0.0980075672f, -0.4719111025f, 0.2169308513f, -0.4073899686f, -0.3677752912f, 0.1686977446f, -0.3691555560f, -0.0566529781f, 0.2436147034f, 0.0352467895f, 0.2247329205f, 0.1287635118f, 0.2276323736f, -1.1428972483f, 0.0267670061f, -0.3803151846f, 0.1016131118f, -0.3375857770f, -0.3619975746f, -0.0580476969f, -0.2426059097f, -0.2319097221f, 0.1949766576f, -2.0283784866f, -0.1499034166f, 0.3203954101f},
- {-9.3854074478f, -0.0246858224f, -0.8499143124f, -0.2564937472f, -9.3853092194f, -0.6312729120f, -5.0737833977f, 1.9478274584f, 2.6517164707f, 2.3842592239f, -5.2550106049f, -0.3242772520f, 0.8110681176f, -0.3066453636f, -1.3071999550f, 2.7409677505f, 4.5771627426f, -0.5061553717f, -1.4946135283f, 3.5521233082f, -2.9335832596f, -0.5765511990f, 0.0422952175f, -0.1721477956f, -0.2773832083f, 0.2279552370f, -5.2490863800f, -0.7335987091f, -0.1851830781f, 0.0654127821f, -2.0507786274f, 0.3237775564f},
- {-0.2222796977f, -0.3723528683f, 0.0691528544f, -0.3326320350f, 0.1267025322f, -0.0477940738f, 0.0229985509f, -0.0779023990f, 0.1464604437f, -0.1281969845f, 0.0605426840f, 0.0904146507f, 0.0433506742f, 0.1155809388f, 0.1346668303f, 0.0832128003f, 0.0945276693f, -0.2366465777f, -0.0344646983f, -0.0648121014f, -0.1341129988f, 0.0577474162f, -0.1170159131f, -0.0575251095f, 0.2074271739f, 0.1984294653f, 0.2561211288f, -0.4803146720f, 0.1444168389f, -1.3286510706f, 0.2394987047f, 0.0752803981f},
- {0.1440746784f, -0.0171720050f, 0.4093155265f, 0.0168101508f, 0.3510462344f, -0.2379340529f, -0.1087244079f, 0.0702282861f, -0.2610715032f, -0.1717523634f, -0.0145056592f, -0.3848222494f, 0.1109743863f, 0.1177851558f, -0.1664983183f, -0.1298100203f, -0.1001451164f, -0.1466456205f, -0.3134774268f, -0.4611427784f, 0.0405314565f, -0.3590387702f, 0.2124959528f, 0.2551239133f, -0.1097064912f, 0.2295900434f, 0.1829279214f, -0.0514878631f, -0.1421726197f, 0.1224616244f, -0.2044410706f, -0.0536189489f},
- {-1.1521507502f, -0.3603971601f, 0.0563264266f, -1.3970239162f, -1.4270666838f, -2.8226051331f, -3.5476942062f, -2.5657920837f, -0.5939258933f, -5.4976310730f, -4.0049266815f, -0.5885877609f, -0.1167592034f, 0.0184592586f, -1.5224845409f, -4.8727149963f, 3.0517530441f, -0.1223363504f, -0.2621241212f, -3.8385307789f, -2.8868563175f, -0.3684002161f, -0.3500567973f, 0.1355150640f, -0.4692768753f, -6.4998006821f, -1.3951023817f, -0.6174461842f, -0.1671719849f, -0.5628139973f, -0.2307008952f, 8.5936250687f},
- {-0.3384640515f, 0.2626960576f, -0.2724999785f, -0.3156481981f, 0.1593002975f, -0.0599933714f, -0.5736973286f, -0.0508794934f, 0.0508684218f, 0.1900248677f, -0.2414632142f, -0.0151213873f, -0.0642893165f, -0.0736586526f, 0.3415043652f, 0.2434819192f, 0.1858230978f, -0.0688576773f, 0.0958920494f, 0.0314638801f, -0.2458027154f, -0.5904662013f, 0.0937323049f, 0.1025661081f, -0.1099876687f, 0.1343368292f, -0.2600298226f, 0.3431377113f, -0.2248598337f, -0.0926240832f, -0.0758377016f, -0.0951057747f},
- {-10.8200063705f, -0.2333872318f, 0.0629985109f, -0.5098025203f, 5.5954618454f, -0.0266051386f, 1.0398765802f, 2.6189880371f, -0.8284100294f, -1.0288726091f, -19.0959739685f, -0.4239546657f, 2.2480175495f, -0.3452661932f, 0.5333261490f, 3.0123581886f, -0.5058676600f, -0.5662975311f, -1.4740906954f, 2.3249070644f, 1.9839859009f, 0.0691346005f, -8.4895219803f, -0.0517179966f, -0.3145155013f, 0.0487585813f, 0.5590797067f, 1.1825811863f, -1.1296035051f, -0.4631800354f, 0.0042153052f, 4.9763317108f},
- {0.8741941452f, 0.2847254574f, -0.0165548436f, 0.0214925446f, 0.0281693470f, -3.5478408337f, 5.1184897423f, -1.0630372763f, -0.3170503676f, -7.8191223145f, -0.7177888751f, 0.0192223061f, -6.6766848564f, 0.0839038268f, -4.0633893013f, -0.6456161737f, 1.9720232487f, 0.5165043473f, 0.1431490332f, 3.3671495914f, -2.0822234154f, -0.2774647176f, 3.5052692890f, 0.0942892134f, -0.1689221412f, -23.8342685699f, -5.3589863777f, -15.0655832291f, 0.1842747778f, 0.0636580139f, -0.8683874011f, -9.0183506012f},
- {5.8148365021f, -0.0181446839f, 0.0218663495f, -0.6435270309f, -4.6314897537f, 1.0660556555f, -0.7006200552f, -1.7170858383f, -11.6315021515f, -1.8548130989f, 2.3387854099f, 0.1161770225f, -4.4872589111f, 0.0984403118f, 2.3550364971f, -1.3147095442f, -1.7980459929f, 0.2122275829f, 0.2098008990f, 0.8191279769f, -2.6600685120f, -0.9796918035f, 3.9549865723f, -0.3468909264f, 0.1095151901f, 2.1919665337f, 0.8045359850f, 1.2023586035f, 0.1413695663f, -0.4612948000f, -0.0958333239f, 0.5004554391f},
- {-10.4134435654f, -1.6761026382f, -2.1109883785f, -0.8899091482f, 0.9217932224f, -0.1489774138f, -1.2502399683f, -0.2223093659f, 0.2842899561f, 0.2826307416f, -11.5551824570f, 0.2193767130f, 0.2752348483f, 0.0379434153f, -3.4593420029f, 0.2076737136f, 0.1856303215f, 0.2192035168f, -0.7756754160f, 0.0748336688f, 0.4596520662f, -0.6056127548f, -0.0012871140f, -0.3025635183f, -0.5217733383f, -0.4117718935f, -0.3294989765f, 0.2200052887f, 0.2029565573f, 0.2765416205f, -0.4646576941f, -0.0226360932f},
- {-0.3001706302f, -1.0916574001f, -0.1813789010f, -0.1071366295f, -0.5642485023f, -0.4381268024f, -0.2561828494f, 0.2427830398f, -0.0773036852f, 0.1807658523f, -0.6189127564f, -0.5280420780f, -0.2278218716f, 0.2025674731f, -0.1903136224f, 0.2945006490f, -0.0809962600f, 0.1900134534f, -0.5843535066f, -0.1001444906f, 0.1827683747f, 0.2382754385f, 0.3387266994f, -0.3220880032f, 0.1786493659f, 0.0670973137f, -0.1765727550f, -0.0752916187f, -0.1503725797f, -0.1599606723f, -0.5018463135f, 0.0873332471f},
- {-0.1636323780f, 0.1241440102f, 0.0475576073f, 0.1504822969f, -0.1423517764f, -0.1402205229f, -0.1181961671f, 0.3235143721f, 0.0912692472f, 0.3641940355f, -0.2788277864f, -1.0504397154f, 0.1891589761f, 0.1606433988f, 0.5445721745f, -0.1664946973f, 0.2456973046f, -0.3874065876f, -0.3910988867f, 0.1926820129f, -0.0088137649f, -0.4388289452f, -0.1335452497f, -0.0635569021f, -0.2904116213f, -0.0950278938f, -1.6520583630f, 0.0426815301f, -0.2116074115f, -0.2022051066f, -0.7181299925f, 0.1868721247f},
- {0.0034010340f, 0.2792718112f, -0.4612697959f, 0.0420143865f, -0.2565088868f, 0.1659194678f, 0.2364908457f, 0.3249883950f, 0.1776097417f, -0.1085670367f, -0.1002039164f, -0.0526343510f, 0.1710232794f, -0.1661372930f, 0.1210514680f, 0.0878346786f, -0.3646489382f, -0.0152188586f, -0.1779934615f, 0.0524123646f, 0.2448512614f, -0.1211499125f, -0.1922912896f, -0.3014973998f, -0.2541061938f, -0.0387258530f, 0.1648880988f, -0.0043392545f, 0.2601354420f, 0.0364522561f, 0.1693428457f, 0.0329939090f},
- {-0.2273397893f, -0.3498373628f, -0.0433691703f, -0.6629248857f, 0.1507195234f, -0.1990272850f, -0.1220994815f, 0.1678037792f, -4.3043742180f, -0.0007548440f, -0.3417711258f, -0.1170029715f, -1.3333457708f, -0.0142377056f, 0.5767194033f, 0.4187206626f, -0.0696189702f, 0.1859471947f, -0.3047918975f, 0.4045199156f, 0.2059099227f, -0.7050588131f, 0.1555795074f, -0.0812577009f, -0.3910994828f, -0.0145086460f, -0.0485258102f, -0.0066310908f, -0.1054076031f, -0.5957096219f, -0.2342762351f, 0.0350304283f},
- {0.0149504738f, -0.0129147042f, -0.5884258151f, 0.0588622056f, 0.0843603089f, -0.0650319681f, -0.1795133650f, -2.2022593021f, 0.1941308379f, -0.2966808379f, -0.2518850267f, -0.2675821781f, -0.5772732496f, 0.1356097460f, 0.1572682261f, -0.4143220186f, -1.1145333052f, -0.1922410876f, -0.1281387955f, 0.0762870386f, -0.2557103634f, 0.0021827971f, 0.1089263260f, 0.2346664369f, 0.2724923491f, 0.0007219575f, 0.2104968876f, -0.0320289358f, -0.1094986573f, -0.0914234072f, -0.2628631294f, 0.1553151160f},
- {0.7854294777f, -1.2805747986f, -0.4509948492f, -0.5390222073f, -7.2329969406f, -4.1658449173f, 0.9921216369f, -19.2893733978f, -0.0606014021f, -1.3520914316f, -2.8341577053f, -0.5397177935f, -0.4183989465f, -0.3706202805f, -4.5540037155f, 0.8042452931f, 2.8141219616f, -0.0732958987f, -0.5256106257f, -0.1778799146f, -1.4509961605f, 0.0517916530f, 0.2504193485f, -0.3624364734f, 0.0715965852f, -2.5190768242f, -20.3786926270f, -0.2376282662f, 0.0138650360f, -0.1234268844f, -0.4907496870f, -1.5723351240f},
- {0.1309531778f, -0.4162278175f, 0.0861416981f, -0.0754620507f, 0.3168306947f, -0.3067710400f, -0.0102485251f, -0.1974389702f, 0.1207621619f, -0.0179167688f, -0.1688643098f, 0.0122922705f, 0.1167635992f, 0.0521559902f, -0.3053426147f, -0.3361171484f, -0.3374931216f, -0.2523073256f, -0.0067732469f, 0.0612988696f, 0.1934308410f, 0.0817848817f, -0.1016546264f, -0.1203937978f, 0.1065604016f, -0.1992163658f, 0.3401925266f, -0.0275416337f, -0.2688343525f, -0.0388706326f, 0.1756630838f, 0.4808184803f},
- {0.4282532632f, -0.0259445906f, 0.3069318831f, -0.3668542504f, 0.3145154119f, -0.3847868145f, 0.2201283127f, -0.0448469892f, 0.1542371064f, 0.2123837769f, -0.1569138467f, 0.0211382862f, -0.2548147142f, -0.2737289667f, -0.3175657392f, -0.5842364430f, -0.0748774335f, -0.1540294737f, -0.1290857196f, 0.1770722121f, 0.1833150536f, 0.0081414832f, 0.2064791620f, -0.1276530772f, 0.1270321757f, 0.1417734623f, -0.2329282910f, -0.3905624747f, 0.2545000315f, -0.3035842478f, 0.0064902604f, -0.3016678095f},
- {-7.5552926064f, -0.9295108318f, -0.2481519580f, 0.7649185658f, 1.9046311378f, -0.1586459428f, 2.0594851971f, -1.3088877201f, -1.2542868853f, -4.6562218666f, 6.3942017555f, -0.6503939629f, -0.7048695683f, 0.2057881355f, 6.5724821091f, 1.7823606730f, -2.8745467663f, -0.3315669894f, 0.9826352596f, -2.7425603867f, -1.9275763035f, -0.2427215725f, -0.5757774115f, 0.2017655820f, -0.1918183118f, -16.7525539398f, -0.7728430629f, 1.0563217402f, -0.4434075356f, -0.7302488089f, -0.2927037179f, 2.4355039597f}
-};
-
-
-const float fc2Bias[32] =
-{-1.4964368343f, -0.4743577838f, -0.4512416422f, -0.4922141731f, -5.1149101257f, 8.8500652313f, -15.7193136215f, -0.0800511166f, 2.7641799450f, 3.4012768269f, 0.0683615580f, -0.1829399616f, 5.3457593918f, -0.4106808603f, -16.5018920898f, -11.1810235977f, -8.3992519379f, -0.4962880909f, -0.9232602119f, -11.2513113022f, 2.3576202393f, -0.4867421985f, -3.7326567173f, -0.2190053761f, -0.3950267136f, -1.8300843239f, 7.8722882271f, -1.0580558777f, -0.4571195245f, -0.4307751656f, -0.3282840848f, -4.9084253311f};
-
-
-const float fc3Weights[32][32] =
+namespace torqueEstimation
{
- {2.1267073154f, -0.3118368387f, -1.0274667740f, -0.3681430817f, -0.2503374219f, -1.2477926016f, -1.3221302032f, 1.8165496588f, -0.1359463781f, -1.7964631319f, -0.0097085517f, -0.3852086663f, -3.3534936905f, -0.8397763371f, -0.4446444511f, -1.6745910645f, 3.2378242016f, -1.0022313595f, -9.9781904221f, 0.1582326442f, 0.5432472825f, 0.0471910089f, 5.9129772186f, -0.2324501723f, -4.1757726669f, -2.3055243492f, 0.0340588912f, -9.1570177078f, 3.9973771572f, -5.0203042030f, -0.4807384312f, -0.2449323237f},
- {0.2926399410f, -0.3126508892f, -0.2911956012f, -0.6654194593f, -1.9371089935f, -0.5545672178f, 0.4246672988f, 0.3819307983f, 0.2514972389f, -0.4406578541f, -0.9821344614f, -0.3851819932f, 1.1248499155f, 0.0522659570f, 0.0575070083f, 0.4138618112f, -0.8817019463f, -0.6708815694f, 0.4475752711f, -0.0536939353f, 0.2634044886f, -0.7456439734f, 0.3254241347f, 0.7578423023f, -0.0451397039f, -0.3245976269f, 0.3969579041f, -0.3185728490f, 0.5564263463f, -0.6522557735f, -0.1052212864f, -0.4474395216f},
- {0.1283721924f, -0.0823663324f, -0.0326546133f, -0.4661917388f, 0.2401303649f, -0.2880379856f, -0.1517074406f, 0.2752179205f, -0.1285577416f, -0.9086889029f, 0.0597265214f, 0.0445332415f, 0.0693372712f, 0.3575956523f, -0.2324096560f, 0.6556770205f, -0.2550288737f, 0.0115993991f, -0.1578786522f, -0.2495867163f, 0.5065354705f, 0.1579007357f, -0.3488564789f, -0.3209209442f, -0.1637986600f, 0.0921269283f, -0.0206926819f, -0.4815258384f, 0.1049012691f, 0.0869352594f, 0.0118843094f, 0.0378016829f},
- {-0.1867472231f, -0.0983402878f, -0.2410253137f, 0.1428901106f, 0.5535175800f, 0.4710266590f, 0.7919189930f, -0.1014919057f, -0.0083244918f, 0.1866499782f, -0.2188591063f, -0.2367116362f, -0.3858147562f, 0.2450350076f, 0.1948615909f, 0.2732373476f, -0.7079418898f, -0.4475770295f, -0.0726167932f, 0.0758384317f, -0.0683538988f, -0.3337415755f, 0.6586756110f, -0.3540558219f, 0.1567319185f, 0.2762941718f, -0.1348233819f, -0.2360792607f, -0.0053496510f, 0.3404291868f, 0.0747083575f, -0.4553619027f},
- {-0.7439086437f, -0.5030723810f, -0.0015834231f, -0.2131769657f, -0.1265947670f, 0.6866528392f, -6.0031766891f, -1.1717530489f, -0.8875666857f, -0.7657486796f, -0.4995601177f, -1.3289493322f, 0.5762737989f, -0.1594046950f, -1.7588888407f, 0.0773057416f, -1.0809998512f, 3.3575456142f, -2.1498513222f, -0.1858167648f, 1.1153688431f, -0.2805164158f, -2.4953896999f, -3.0942769051f, -4.6361846924f, -7.2082462311f, -0.2423758358f, 9.1199541092f, -1.9552760124f, 1.5397961140f, -4.8174195290f, -0.1466594040f},
- {-12.2784042358f, 0.2199732214f, -0.1896684021f, -0.3432999253f, -0.2287421525f, 3.4079124928f, -1.9381728172f, -0.6183780432f, -2.6809947491f, -13.9357881546f, -0.3349778652f, -1.1822427511f, -0.4702038467f, -0.4513809979f, -4.1594862938f, -1.3155949116f, -2.8984313011f, 0.8626719713f, 0.9431877732f, 0.1867329180f, 1.8311676979f, 0.0268813707f, -0.2230326235f, 1.5717616081f, 4.5641150475f, -5.9756793976f, -0.3749696314f, 6.8801670074f, -0.5390860438f, 2.2278966904f, 1.6726257801f, -0.4617499709f},
- {-1.1322755814f, -1.6074182987f, 0.3383499086f, -0.0879338682f, -0.3024970293f, -0.9650658965f, -0.7258930802f, -2.2438650131f, -8.0822734833f, -1.1866042614f, -0.1294266731f, -0.3437821269f, -5.2474503517f, -3.8555898666f, -0.9632506967f, -1.5082763433f, -2.1201927662f, 1.0083860159f, 0.9984830022f, 0.0244099908f, 1.3445159197f, 0.0025331527f, 0.3188533485f, -1.2511210442f, 4.4629726410f, -0.6043246984f, -0.2112076432f, 0.2277358621f, -0.4532658756f, -2.5137176514f, -0.6861492395f, -0.2597316206f},
- {-11.9988451004f, -0.1067576185f, -0.2066107839f, 0.0828568414f, -0.3275893927f, 2.5277581215f, 3.2627487183f, -5.6365389824f, 5.3499884605f, -3.2246093750f, -0.2226941139f, 0.1935922205f, -4.1013288498f, 0.0029573692f, -1.5204852819f, -4.4882822037f, 4.6080155373f, 4.0036969185f, 0.9089803696f, -0.2275806665f, -2.7591450214f, -0.1230073869f, 2.7025136948f, 5.8001189232f, -2.8862383366f, 1.4778681993f, -0.5003541112f, -8.5913944244f, 0.0913238823f, -3.5371487141f, 0.1153692529f, 0.0406519361f},
- {-2.5129640102f, 0.3217219710f, -0.0095533794f, 0.1789117903f, -0.0394163057f, -12.0436925888f, 7.2080974579f, -0.6646071076f, 7.5206618309f, 3.8631877899f, -0.1600254625f, -0.8080578446f, -0.5643880963f, -0.0537163280f, -0.5046658516f, 0.4704113901f, -1.0934047699f, 1.3934750557f, 1.6021199226f, 0.2552498877f, -2.1392021179f, -0.1866302639f, -1.9532939196f, 4.3028411865f, -2.0663371086f, -1.1156477928f, 0.0436181799f, -4.5952415466f, -4.1031899452f, -4.2674293518f, -1.3652423620f, -0.3086400926f},
- {-2.4256632328f, -0.8204917312f, -0.0080023678f, 0.0641652644f, 0.1045749411f, -6.7571711540f, -5.8372755051f, -2.5383017063f, 1.3260424137f, 0.7004460692f, -0.2244220227f, 0.5836414695f, -0.1815587580f, -0.3951809406f, -0.1336556673f, -4.6909227371f, -6.2935724258f, 3.7900424004f, 2.5683553219f, -0.1162255332f, 4.1622815132f, 0.1073398590f, -5.1608195305f, -8.2401542664f, -5.8381042480f, -7.4464135170f, -0.1182934269f, 3.2788193226f, 1.4351627827f, 6.3681168556f, 5.1041111946f, -0.1208729222f},
- {4.9961571693f, 0.0185269248f, -0.2817080617f, -0.0505358987f, -0.2017169148f, 0.5220227242f, -9.6225223541f, 3.5301513672f, -1.2750257254f, -16.6149158478f, -0.2861652076f, -0.1112170741f, -2.9041886330f, -0.7071534991f, -1.5988026857f, -8.9261875153f, -14.3294153214f, 0.6273730397f, 1.6051287651f, -0.1642416716f, -3.4014506340f, 0.0300757475f, 6.7346963882f, -1.6067913771f, 1.6891504526f, -3.9646015167f, -0.0779341832f, 4.6224765778f, -0.5721715689f, -5.5780882835f, -0.1785165519f, 0.0633503497f},
- {0.1060310677f, -0.5470390320f, -0.2241495699f, -0.4295381904f, -0.0263416618f, 0.2030417621f, -0.1120280996f, -0.0827973634f, -0.3317763507f, 0.0817295536f, 0.0069632535f, -0.1319767535f, 0.9747350216f, 0.2557510436f, 0.1425391138f, 0.1720905155f, -0.0782878473f, -0.0193020143f, 0.1281307042f, -0.2256549150f, 0.1310895681f, -0.5182238221f, 0.3424457908f, -0.1979330033f, 0.1891248226f, -0.0348026715f, 0.0921394229f, -0.0947700441f, -0.0883120522f, 0.0940800980f, 0.1856457591f, -1.7943713665f},
- {-4.0017580986f, -0.9870634079f, -0.3691159189f, -0.4045964777f, -0.9596207142f, -4.4315557480f, -2.6966378689f, -2.4839437008f, 2.0009076595f, -2.3518767357f, 0.0318453647f, -0.5925750136f, -8.7461175919f, 1.2080634832f, -0.9580079317f, -1.3870022297f, -2.9447979927f, -4.2511048317f, -0.7817761898f, -0.3507715464f, 0.2093277872f, -0.2879707217f, 0.9649841189f, -10.7083244324f, -7.3718595505f, 1.7227441072f, -0.2694068253f, -2.7931368351f, 1.4890755415f, 0.6705868244f, 1.4951418638f, -0.1209532097f},
- {-0.2123307288f, -0.3103626966f, -0.2075639665f, -0.0577281974f, -0.0194090679f, 0.2053133696f, -0.0279764533f, -0.1785610318f, -0.0686176419f, 0.2033739239f, -0.1825354397f, -0.0740804151f, 0.2677070498f, 0.2260797173f, -0.3779144287f, 0.0846814588f, 0.2516773045f, 0.1258523315f, 0.0956230313f, -0.1808306128f, 0.3722532988f, -0.1553636193f, -0.0801539496f, 0.2497462928f, -0.1287349761f, -0.1542355567f, -0.2239110470f, -0.0359012038f, 0.0341420211f, 0.1991766691f, -0.1235702857f, -0.0031303430f},
- {6.9049019814f, -0.6181007624f, -0.1168652996f, -0.3459298015f, 0.1081510484f, -0.6562979817f, 2.9601066113f, 4.0602450371f, -0.7127177119f, -0.0100999130f, 0.5118251443f, 0.2948195040f, -14.6811800003f, -0.1756128967f, -2.3726568222f, -2.2973806858f, 0.2021040469f, 3.7788739204f, 0.0394109413f, -0.5389692783f, -2.5069026947f, -0.1306917369f, 1.1527950764f, -4.1568374634f, -5.4282240868f, 1.0624045134f, 0.2346842736f, -7.4216456413f, -10.1741409302f, -5.2678761482f, -1.5980980396f, -0.4154963493f},
- {-5.9673295021f, -0.4644198418f, -0.4291569293f, -0.2272513807f, -0.4974555075f, 2.6671023369f, -6.5609960556f, 0.3609015644f, 10.3618955612f, -2.0600147247f, -0.5190568566f, -0.2184191942f, -1.4022922516f, -1.4489669800f, -4.0840444565f, -4.2195286751f, -0.4894198477f, -2.7413768768f, -6.3571834564f, -0.1267714947f, -0.8546049595f, -0.2224794775f, -0.3131478429f, -0.9897703528f, -6.1158819199f, 0.3078280985f, -0.4307037592f, -14.2193670273f, -0.3561481237f, -9.1594533920f, -0.7577811480f, -0.3548552096f},
- {-6.2391667366f, -0.1269952357f, -0.2936189175f, -0.9923886061f, 0.0176051259f, -1.9780510664f, 0.0654375777f, -1.7040052414f, -0.1822838187f, -1.7437926531f, -1.0801513195f, -0.7526912093f, -5.0536708832f, -0.7413324714f, -2.9236466885f, -6.1675448418f, -0.9600590467f, -2.5335817337f, -1.1323231459f, -0.8290102482f, 0.5944318175f, -0.0634517670f, 0.9594070911f, 1.3713343143f, -3.9021794796f, -0.7598190904f, -0.7681146860f, -1.0350772142f, 0.8626580238f, -1.0701311827f, 0.6357883215f, -0.1052244753f},
- {0.0669496581f, 0.1127517670f, -0.0209338553f, -0.0054164180f, -0.1271978915f, 0.0695113614f, -0.3660996258f, -0.7821827531f, -0.2065943033f, 0.2308539152f, 0.4742313325f, 0.1034071371f, -0.0490562394f, 0.4140049219f, -0.0322051346f, -0.0112497425f, 0.0862999111f, -0.1826869249f, -0.0142615261f, -0.0710267127f, 0.0182412416f, 0.0835287198f, -0.0485102497f, -0.1113768369f, -0.3792001903f, -0.0910689160f, 0.0768057555f, -0.4180118442f, -0.0000109978f, -0.0632229522f, 0.0589419529f, 0.1596196741f},
- {0.3151653707f, -0.4588074088f, -0.3387854099f, 0.1461272687f, 0.0001908212f, -0.0586236343f, -0.8286342025f, 0.2795176804f, 0.4374869168f, 0.0628984645f, -0.2587254047f, 0.2453358322f, -0.6134222746f, 0.0773593485f, 0.2486565858f, -0.5328485370f, 0.6034097075f, -0.3007964790f, -0.2765316963f, -0.2508219779f, -0.2341709882f, 0.0143393278f, 0.1970690787f, -0.2759173810f, -0.7320910692f, -0.2636430860f, -0.0779949948f, -0.5681775808f, 0.0010494586f, 0.3486377001f, 0.5590596199f, -0.1548434943f},
- {0.2904222906f, 0.2120339572f, -1.5837268829f, 0.1351595223f, -1.0482976437f, 0.6585662961f, 1.2837238312f, -8.8914051056f, 0.1900334507f, -6.2876024246f, -1.1750501394f, -0.9563908577f, -6.0589551926f, -0.0554546751f, -2.5099968910f, 0.2854703367f, 0.5719563365f, -0.4985203147f, -0.8484790921f, -0.2796662748f, -2.6506903172f, -0.0737289563f, 0.1099997908f, -6.8096685410f, -9.5710783005f, -3.5462114811f, -0.3454555869f, -4.1742453575f, -6.2087631226f, 1.0913355350f, -5.9188799858f, -0.0447143987f},
- {-0.1762033552f, -0.9464151859f, -0.3476518989f, -0.1438073069f, -0.1068934649f, -2.6918101311f, 13.4009866714f, -0.0717068240f, -1.2019355297f, -2.8347525597f, 0.1641165912f, -0.0925235450f, 4.8379797935f, 2.1199939251f, -0.3954177201f, -1.5702075958f, 0.0889840126f, -1.7895882130f, 1.9846193790f, -0.0691496804f, -6.4447302818f, 0.1634601355f, 9.6448106766f, -0.7868277431f, 2.1918652058f, -0.5956330895f, -0.4198028147f, 2.8396642208f, 3.0820310116f, 3.5346202850f, 1.1110432148f, 0.1005667076f},
- {0.2411281914f, 0.1411192566f, -0.0250760857f, -0.1230037659f, 0.6549731493f, 0.2007940114f, -1.5664811134f, 0.3535908461f, 0.6514756680f, -0.3146148622f, 0.0244260952f, -0.1043881625f, 0.5631551743f, -0.1026171371f, -0.2293619066f, 0.0751082525f, 0.1610344499f, 0.3488910794f, -0.3952502310f, 0.0538705476f, -0.1643067747f, -0.0639704242f, 0.1503835022f, 0.1106679291f, 0.3851269782f, 0.3049305081f, 0.2240979224f, 0.4056433737f, -0.3284457624f, -0.4254478812f, -0.0813698918f, -1.5299969912f},
- {4.3450713158f, -0.4628526270f, -0.1491935551f, -0.2041818649f, -0.5786065459f, -1.2504427433f, -0.2758893967f, -0.3101694584f, 2.9785020351f, -4.7803659439f, -0.3506944776f, -0.9885157347f, -7.2183914185f, -0.1302880943f, -2.8009421825f, -0.6073452830f, -0.8039718270f, -12.0689706802f, -0.7140820026f, -0.3246946931f, 2.0155956745f, -0.3901022673f, 3.3020424843f, -0.5596037507f, 0.5555099249f, 0.2735705674f, -0.2914109826f, -14.4507541656f, -17.0698108673f, -4.3910245895f, -5.2524790764f, -0.2280410379f},
- {-0.0042843656f, -0.1069235355f, 0.0691635162f, 0.0867756158f, 0.2937769592f, 0.0736219883f, -0.1853623986f, -0.1654763520f, 0.2185866535f, 0.1437660605f, -0.2649201155f, -0.1712868661f, -0.0538765527f, -0.1329404116f, 0.0423769951f, 0.3043175936f, 0.2732996941f, 0.0199668072f, 0.2512804568f, 0.1751035899f, -0.2383348942f, -0.2895450890f, -0.0679779947f, -0.2974975705f, 0.1156523153f, -0.2165189683f, 0.2342301458f, -0.1439705789f, 0.3337920308f, 0.2263115346f, 0.2996229827f, 0.1000883803f},
- {-0.0903539732f, -0.2626895308f, -0.2928705215f, -0.1522098780f, -0.1990660727f, 0.1050468609f, 0.0752090216f, -0.0103869336f, 0.0290090404f, -0.2140946537f, -0.3905937076f, -0.0324644707f, 0.1388606578f, -0.0920412987f, 0.2089990675f, -0.0512218550f, 0.0448999256f, -0.0192409158f, 0.0232043508f, -0.1123628542f, 0.1863525957f, -0.1689641625f, -0.0414763764f, -0.0482044294f, 0.1756522357f, 0.3836692274f, -0.2097899765f, 0.0034760062f, 0.3211987317f, -0.1981586516f, 0.0146787502f, 0.1057996526f},
- {-0.5354076028f, -0.3253239095f, -0.1333258152f, -0.0967850685f, 0.0488308556f, 1.7821354866f, -2.4696009159f, -1.0925548077f, 4.8946523666f, -5.5363497734f, -0.0556999668f, -0.3859304488f, -0.4668995738f, 1.1459211111f, 0.0986527577f, -5.5068421364f, -2.1916167736f, 0.9777641892f, 1.2964626551f, -0.1227272600f, -2.6892449856f, 0.2693175077f, 2.4651014805f, -0.2143563330f, -8.1490335464f, -1.1221495867f, -0.2091181278f, -2.5353107452f, 1.5514105558f, -0.8118920326f, -0.0759748369f, 0.0815865844f},
- {-1.1687350273f, 0.0523806289f, 0.1928860396f, -0.1731245518f, -0.0422611423f, -3.5962536335f, 2.1258342266f, 0.0682783425f, -0.6722916365f, 0.6611677408f, -0.4290418625f, -0.2772609890f, 0.0911868215f, -0.2093296349f, -2.5827946663f, 4.6710624695f, 2.0906822681f, 0.5159549713f, 0.3715068996f, -0.2340186238f, -0.4284092188f, 0.0376657546f, -5.7211947441f, -1.1870640516f, 2.2118372917f, -8.0735073090f, -0.0517498069f, -4.1637449265f, -17.3150138855f, 3.2159905434f, -5.9302067757f, -0.0362711921f},
- {-9.7952108383f, -0.6339132190f, -1.7921937704f, -0.3130472600f, -0.7404204011f, -1.6049377918f, 0.1309763938f, -7.6337146759f, 0.4408401549f, 3.3682234287f, -0.7966508269f, -0.0931789875f, -4.3933353424f, -7.4179029465f, 0.2328766286f, -2.2703931332f, -11.0213117599f, -11.4555244446f, 0.8035743237f, -0.3479077518f, 2.3253028393f, -0.1451899409f, -0.3695332706f, -16.2041606903f, -3.2792532444f, 0.6592780352f, -0.4765171707f, 1.1891194582f, -0.2045537680f, -0.2613292336f, -7.1603960991f, -0.0806212798f},
- {-0.2485560924f, -0.5306785703f, -0.2062491179f, -0.1363802254f, -0.0375753008f, -0.2761560082f, -0.2498460114f, -0.0567790791f, -0.4666529298f, -0.0051496779f, 0.0906768441f, 0.3301909864f, 0.0531814285f, 0.2584980726f, 0.0183127709f, 0.1766013205f, 0.1447227001f, -0.1579496711f, 0.0043631280f, 0.1031887531f, 0.0396930017f, -0.0095448559f, 0.1428825110f, -0.0905142054f, 0.0705604851f, -0.7297466397f, 0.1558683962f, -0.0418609716f, 0.1233214065f, 0.1279907525f, 0.1352362633f, -0.0770157427f},
- {-0.0049988753f, 0.1279107481f, 0.0449896753f, 0.6752018332f, -0.2889954150f, 0.4311439991f, -0.3787408769f, -0.4591981173f, -0.1940811723f, -0.0184744801f, 0.0441148244f, -0.1790693253f, -0.7149969935f, -0.0285517797f, -0.1489535421f, -0.5780433416f, 0.5109094977f, 0.6176788211f, -0.3211218417f, 0.1074986085f, 0.2505583465f, -2.5777461529f, 0.3480081260f, -0.8229233623f, -0.6535633206f, 0.5414181352f, 0.8112808466f, -0.3283018768f, 0.4965822697f, 0.8790674806f, 1.1569755077f, 0.2319966406f},
- {-0.2767451704f, 0.2554717064f, -0.2503568828f, 0.2911026180f, -0.0896157026f, 0.0468162894f, -1.6308424473f, -0.2833184302f, -1.0214830637f, -0.1677722186f, 0.0416059718f, -0.0212873127f, -1.5793803930f, -0.0655662566f, -0.2267671078f, 0.3937034011f, 0.0103700571f, 0.1117373928f, 0.3512356877f, -0.1141320691f, 0.2422832102f, -3.8471693993f, -0.6802755594f, 0.1919109225f, -0.2617484927f, -0.5890094638f, 0.0800860524f, 0.1804080307f, -0.0786418170f, 0.2081480175f, -0.2514747679f, -1.6461024284f},
- {-4.4110560417f, 0.0582131147f, -0.2296621650f, 0.0098368116f, -0.3111234009f, -0.7137008309f, 2.6443011761f, -5.5492348671f, -4.7353625298f, -1.0368877649f, -0.4160888791f, -1.2896853685f, 3.9724817276f, -10.6603651047f, 2.2762250900f, -3.0436787605f, -8.0274572372f, -1.4319875240f, -3.7743313313f, -0.0725755915f, -0.0383329280f, -0.3231822848f, 0.4311948717f, -2.6726655960f, -0.5350571871f, -1.4796928167f, -0.1884928495f, -5.7419962883f, -0.9663215280f, 0.1886327565f, -8.7959461212f, -0.1736448258f}
-};
-
-
-const float fc3Bias[32] =
-{-11.7193555832f, -0.6158396602f, -0.5767308474f, -0.4492973387f, -0.4815680087f, -1.5243271589f, -28.5404338837f, 4.9779524803f, -48.1950645447f, 5.1014094353f, -0.8038403392f, -0.7135465741f, 7.9977378845f, -3.9328453541f, -22.0385246277f, 0.3583163023f, 1.1570060253f, -13.7082090378f, 2.4488532543f, -0.4611511827f, -7.0892620087f, -0.3534394205f, -4.1933374405f, -13.2186746597f, -16.0344810486f, 5.2995457649f, -0.7092553973f, -11.6922359467f, 5.9151840210f, -4.7581868172f, -5.7193002701f, -0.4998539686f};
-
-
-const float fc4Weights[32][16] =
-{
- {0.1313932389f, -0.6613871455f, 0.0097358534f, -0.1018039361f, -0.4058391750f, 0.4376264215f, -1.2572003603f, -3.6500022411f, -0.4249550700f, -0.2536546886f, -0.8922878504f, -0.4847670496f, -0.5938788652f, 0.1258193851f, -0.2272187024f, -0.1410650164f},
- {0.0492341593f, 0.0943892971f, -0.5367519855f, 0.2006352544f, -0.3140752912f, 0.3790577352f, 0.5460243821f, 1.5730974674f, 0.4506726563f, -0.3239695728f, 0.1827834398f, -0.2436640859f, 0.4437866211f, 0.3330729902f, -0.2623860538f, -0.2274987251f},
- {0.3261446357f, -0.5036940575f, -0.0645739883f, 0.1797081381f, -0.0971707106f, 0.7298631668f, -0.4873719513f, -0.1038509980f, -0.8186036348f, -0.0861302018f, 0.0887329206f, -0.2477209568f, -0.4017193019f, -0.2803779542f, 0.5708403587f, 0.7890117168f},
- {-0.4605375826f, -0.3520908654f, 0.4579149187f, -0.6693316698f, 0.3497380316f, 0.2658064663f, -0.1681881249f, -0.3272072375f, -0.0845411718f, 0.2394114435f, -0.0101059023f, 0.4046859443f, -0.7417863607f, 0.4150537550f, 0.0869048312f, 0.0200589113f},
- {-0.7960591316f, 0.7115456462f, 0.5414740443f, 0.2834898829f, -0.1049120426f, 1.2471122742f, 0.9764256477f, -0.2314370126f, 0.4565517008f, -0.1377106160f, 0.0066791684f, -0.0875304118f, -0.3973374367f, -0.4656803310f, -1.2865468264f, -0.2754203975f},
- {-0.1267081201f, -0.3586117029f, -0.4626653492f, 0.0707737282f, -0.4280650318f, 0.3731042147f, -1.5224643946f, -0.0001562309f, -0.5457718372f, -0.8392512798f, -0.3297198415f, -3.6849846840f, -0.3235607445f, -0.4571735561f, -2.5906243324f, -0.0216693431f},
- {-0.1975702047f, -0.6478233337f, -1.0000374317f, -0.7892091870f, -0.6129112840f, 0.4033009410f, -1.0652874708f, -5.0731873512f, -0.8335696459f, -0.0490954109f, -4.0255231857f, -2.5913162231f, -0.0984867662f, -0.3165186942f, -1.6619985104f, -0.1019358039f},
- {-0.0070813317f, -1.4723222256f, -0.1055053324f, -0.0588658154f, -0.0424999259f, -2.5744652748f, -1.9830906391f, 1.0004559755f, 0.7691277862f, -0.1811856925f, -0.2902224660f, -0.2105268091f, 1.2195326090f, -0.0701754391f, -0.4191590548f, 0.0362841599f},
- {-0.1953794360f, -0.7642983794f, -0.5502391458f, -0.6046341658f, -0.0868658274f, -1.0930783749f, -0.4096246660f, -0.2226173431f, -0.9467145205f, 0.0366492942f, -1.0827271938f, -1.3997668028f, 0.1914290041f, -0.1873319149f, -0.3942896426f, 0.0503584519f},
- {-0.0302787200f, -5.7183461189f, 0.0836869702f, -0.1351985931f, 0.1218350157f, -0.0037351907f, 0.9376742840f, 0.5179937482f, -1.2707405090f, -0.2760854661f, 0.9394776821f, -0.6231134534f, -0.5011545420f, -1.0431542397f, -0.3772255182f, -0.9186507463f},
- {0.5151054263f, -0.1792936772f, 0.5858933330f, -0.0756824464f, -0.1400850862f, 0.3227327764f, -0.0678724647f, 0.6420112848f, 0.7452553511f, 0.0104118586f, 0.1161525100f, -0.9172155261f, -0.3198927939f, 0.0625916570f, 1.1083164215f, 0.5252248645f},
- {0.0453939959f, 0.0149580799f, -0.6745067239f, 0.2029461563f, 0.2238395065f, -0.2415017635f, -0.0304794274f, 0.0479286723f, -0.3008814454f, -0.2162462026f, -0.3752769828f, 0.7910355926f, -0.1502458900f, 0.2189511806f, -0.4534323215f, 0.2343945056f},
- {-0.0660357103f, 0.5701023936f, -0.7573124170f, -0.4243010581f, -0.3647210896f, 0.9252396226f, -2.1346116066f, -1.5707424879f, -1.0428055525f, 0.0289310124f, -2.2915866375f, -2.0114760399f, -1.4218503237f, -0.6069518924f, -3.6163923740f, -1.0943173170f},
- {-0.3510537148f, 0.0646613464f, -0.1941086054f, -0.3585000038f, -0.6358650923f, 0.4817451835f, 0.1834470332f, 1.5077445507f, 0.1200657785f, 0.0157124996f, 0.0893150121f, 0.2747304440f, -0.8162755370f, -2.2185630798f, -0.7672387958f, -0.7171642184f},
- {-0.2655964494f, -0.6097341180f, 0.2751416266f, 0.0416029692f, -0.3487569392f, -4.3967308998f, -0.0399694182f, -0.5985686183f, -0.3526073098f, -0.0124356151f, -0.7412110567f, 0.3568145633f, 2.2140672207f, 0.3069616854f, -0.3047554493f, -0.9152814150f},
- {-0.3112998009f, -1.2923207283f, -0.2642335892f, 0.1059029102f, -0.6062253118f, 1.7047382593f, -0.2192801982f, -7.2568459511f, -0.6452113390f, -0.1957286149f, 0.4478967488f, 2.1868736744f, 1.0964838266f, -0.5934657454f, -0.9350823164f, 0.1335169673f},
- {-0.1445592940f, -3.8598067760f, -0.0888997465f, -0.4536363184f, -0.0818780512f, -0.5499716997f, 0.8879400492f, 0.3036511838f, -2.1018016338f, -0.3131541610f, -2.5331704617f, -2.7884752750f, -1.5264098644f, -0.2974909842f, -0.3884962499f, -1.6347447634f},
- {-0.1576830745f, -1.0188829899f, -0.1347837746f, 0.0133346859f, -0.1020436883f, 0.9006328583f, 0.4465196133f, -1.9912528992f, -1.1890530586f, -0.2928483784f, -1.1970791817f, -1.0793333054f, -0.6542327404f, 0.0027635724f, -0.7239921689f, -0.1350315958f},
- {-0.0101720933f, 0.8065249920f, -0.2725579739f, -0.5590948462f, -0.6773648858f, -0.9759730697f, 1.1105380058f, -0.9370074272f, -1.0632905960f, -0.2358790785f, -2.6182923317f, -0.5131548643f, 0.3938317299f, -0.6527919173f, -0.5773690343f, -2.7888607979f},
- {0.9983167648f, 0.0334987827f, 0.1105532423f, -0.4079656899f, -0.1334102899f, 0.1476265639f, 0.0125124194f, -0.2545211911f, -0.3887112439f, -0.3177830279f, -0.3589894176f, 0.1081808954f, -0.3721842766f, 0.0556281544f, -0.0388795845f, 0.2037374824f},
- {-0.4827512801f, -0.2132459283f, -0.9375121593f, -1.3464082479f, -0.5630852580f, 0.0437785275f, -6.4064550400f, -2.0924882889f, -0.2812258899f, -0.5477465987f, -1.5397117138f, -4.5946688652f, -0.4861118793f, -0.7390319705f, -1.4275629520f, -1.5372459888f},
- {0.0196762551f, -0.0118051507f, 0.2246439159f, -0.2613828778f, -0.5333120823f, -0.1223717630f, -0.1976639330f, -0.1101496667f, -0.0134799089f, 0.0676583350f, 0.2612578273f, 0.1215140149f, 0.2203066051f, 0.2337986380f, 0.1590026319f, -0.0366739817f},
- {-2.0189671516f, 0.4665688872f, -0.8338592052f, -0.3301258981f, -0.4463534951f, -0.3213590384f, -0.2176769376f, -0.7976086736f, -1.4433599710f, -0.9578914046f, -2.3176016808f, -3.3081896305f, 0.1362658292f, -0.9325780272f, -7.5809931755f, -6.1999273300f},
- {-0.2162996083f, -1.1839522123f, -1.3205081224f, -0.0846010596f, -0.2445309013f, -0.2086048126f, 0.8832997084f, 0.2233153582f, 0.6593582034f, -0.2484957576f, -0.5232675672f, -0.0044967751f, 0.1215033680f, -0.2973840833f, -0.0051185489f, 0.4212923348f},
- {-0.3386851847f, -0.1535801440f, 0.2589180470f, -0.5164783001f, -0.0374755822f, 0.2122802138f, 0.2694437504f, -1.9194368124f, -0.4101884961f, -0.5941445827f, -1.8583507538f, -0.8249487281f, -1.2600407600f, -0.3161348701f, -1.8951197863f, -0.5458792448f},
- {-0.5639970899f, 0.5414865613f, -0.9907631874f, -0.7151839733f, -0.3994543254f, -0.8817944527f, -0.5968976021f, -0.2674676180f, 0.4723920822f, -0.6860534549f, -1.4526910782f, -2.7732286453f, 0.6615548134f, -0.4297663867f, -0.3635542095f, -0.7897509336f},
- {0.2338507622f, -0.0548883379f, -0.6124376655f, 0.3055166602f, -0.6472301483f, -0.0934592113f, -0.0791300610f, 0.0744187683f, -0.0494301580f, -0.0888935924f, -0.2844451666f, -0.3919087350f, -0.1899581403f, 0.0696015507f, -0.3865183890f, 0.1351541430f},
- {-0.3884226382f, 0.6438637376f, -0.0235484447f, -0.4085457325f, -0.3678089380f, -0.3611978292f, -1.9616941214f, -0.6029480100f, -1.0217937231f, 0.0628737658f, 1.1272052526f, -0.7026557922f, -2.6631255150f, -0.0570945218f, -0.8197408915f, -0.0155918878f},
- {-0.3045629263f, -1.2819237709f, -0.4050366580f, -1.0614979267f, -0.1641227305f, -1.2281309366f, -1.3765566349f, 0.6788370609f, -1.5758328438f, -1.0314040184f, -6.2401552200f, -3.9707064629f, 0.3741535544f, -0.5852952600f, 0.2783090174f, -0.1958702654f},
- {-0.3730004132f, 0.3823136389f, -0.0965899155f, -0.1237012967f, -0.0356198289f, -0.2304152846f, -2.5172274113f, -0.2180451900f, -0.3073972762f, -0.2923755348f, -4.9185404778f, -3.6769018173f, -0.4479543269f, -0.0074586943f, 0.7228356004f, -0.3836637735f},
- {-1.5993598700f, -1.3894209862f, 0.0539587401f, -0.3277336061f, -0.2855097055f, -3.6847970486f, -4.5063147545f, -1.4260863066f, -3.9039046764f, -1.1701396704f, -1.8200896978f, -2.4587380886f, 0.2993653715f, 0.0570639670f, -2.6918485165f, -1.4997549057f},
- {0.1219597459f, 0.0154820858f, 0.3974801600f, 0.3066018224f, 0.1819918901f, 0.0161614101f, 0.0640004650f, 0.1952118576f, -0.2755865157f, 0.0411446691f, 0.0500190333f, 0.1724539101f, -0.1740499139f, 0.3841970265f, 0.3317279220f, 0.4177183211f}
-};
-
-
-const float fc4Bias[16] =
-{-0.5141325593f, -0.8478075862f, -1.0021078587f, -1.7178856134f, -0.9628381133f, 0.1455254108f, -3.6562759876f, 1.7083742619f, -8.0320730209f, -0.9758637547f, -3.8376631737f, -0.1638645679f, 3.8785557747f, -1.0468775034f, -29.1870574951f, -6.1543283463f};
-
-
-const float fc5Weights[16][8] =
-{
- {-0.0377756208f, -0.0376064293f, -0.0772271156f, 0.5590630174f, -0.3684624434f, 1.0009193420f, 1.3445713520f, 0.5627732277f},
- {-0.4041293859f, 0.1303688884f, -0.3772308826f, -0.8144312501f, -0.3996099234f, -0.8786695004f, -0.1038818136f, -0.6491676569f},
- {-0.1548538208f, -0.4342842698f, -0.3643324077f, 0.7171005011f, -0.2240766436f, -0.3029537201f, 0.0784914643f, 0.2668318450f},
- {0.0582836233f, 0.1667208225f, 0.1605709791f, -0.8526514769f, -0.0394123383f, 0.3542331457f, -0.0112714395f, -0.8478502035f},
- {0.1886940002f, 1.4096331596f, -0.0266252328f, 0.1160744503f, 1.3083670139f, -0.4767547250f, -0.7634902000f, -1.2924789190f},
- {-0.3800563812f, -0.2717871964f, -0.2375701517f, -0.8516035080f, -0.3561956882f, -0.5633419156f, 0.1343641281f, -0.8182802796f},
- {-0.4533548355f, 0.4980821609f, -0.0113001689f, -0.6163378358f, -0.0099237291f, -0.0464528799f, 1.4334065914f, -0.1762148142f},
- {-0.4913391173f, 0.1923918128f, -0.5117462277f, -0.5446628928f, -0.7394183278f, 0.1009852663f, -0.2048954815f, -0.3028838933f},
- {0.0514116511f, -0.1429781914f, -0.2054089010f, -0.3337486684f, -0.9298329949f, -0.0842700675f, -0.9120995402f, -1.0035445690f},
- {0.1642776728f, -0.1338489354f, -0.3949478865f, 0.2676415145f, 0.2334752530f, 0.1165231466f, 0.3371087313f, -0.0303090699f},
- {-0.0316087417f, -0.3532579839f, -0.5091804862f, 0.0389130265f, -0.1303991377f, -1.4411540031f, -0.0542913377f, -0.6798272133f},
- {-0.0166958608f, -0.3853805959f, -0.0088427681f, -0.1329081804f, -0.1517693698f, -0.7518531680f, -0.0679639205f, 0.1632424593f},
- {-0.2969943583f, 0.2169936597f, -0.2704928219f, -0.5222067237f, -0.2086613327f, -0.5919396281f, -0.1555189341f, -0.5921875238f},
- {0.3620398343f, -0.0771873146f, -0.4576121271f, 0.4077250361f, 0.1402812898f, -0.3508163095f, -0.0904585123f, 0.1637402475f},
- {-0.3381429911f, -0.9172439575f, -0.2056993395f, -0.0469768532f, -0.0229178257f, 0.0243457071f, -0.1943701357f, -0.0122073563f},
- {-0.2032035887f, -0.0370536968f, -0.2462941855f, 0.3719790280f, 0.1286954135f, 0.1040267125f, 0.2068356276f, 0.0400213264f}
-};
-
-
-const float fc5Bias[8] =
-{-0.4388153255f, -2.2450299263f, -0.3559921980f, -0.9536105990f, -1.0454660654f, -0.8810431957f, 1.6276029348f, -0.6507120728f};
-
-
-const float fc6Weights[8][1] =
-{
- {-0.5150820613f},
- {0.1128230840f},
- {0.0093749743f},
- {-0.4838168621f},
- {0.2524490356f},
- {-0.4693250954f},
- {-0.1718080938f},
- {-0.4312117100f}
-};
-
-
-const float fc6Bias[1] =
-{0.0394757539f};
-
-
+ [[maybe_unused]] static float vel_factor = 459.0;
+ [[maybe_unused]] static float pwm_factor = 1700.0;
+
+ const float fc1Weights[5][32] =
+ {
+ {-0.2055357695f, 0.1997956634f, 0.0573679060f, 5.6070003510f, -0.0359823219f, -0.6203082204f, -3.5134258270f, -0.0713983923f, 0.0685816705f, -0.0381882004f, -1.7217775583f, -3.8536903858f, -0.3756493032f, -0.1594707817f, -6.3813128471f, -0.3226724863f, 0.2063246369f, -0.6387553811f, 0.0372939110f, 3.8864912987f, 1.4991726875f, 4.3318767548f, -1.9102532864f, -0.0856776312f, -0.5104419589f, 0.3844818473f, -0.5385549664f, 0.0184886176f, -0.2233840525f, 0.3443737030f, -0.1556139588f, 8.5595130920f},
+ {0.2853892446f, 0.9347148538f, 0.2580135465f, -5.0483689308f, -0.1692553312f, 0.6664142609f, -0.8050979972f, -0.1831562817f, 0.2196862400f, 0.0588629805f, 2.8238334656f, 4.0935006142f, 0.3776662350f, 0.1199822798f, 6.6613926888f, -0.1866912246f, 0.0059743905f, -4.2951517105f, -0.1723812819f, -3.6761276722f, 1.8258478642f, -1.4123811722f, 1.8817381859f, -0.3389021456f, 0.4059905112f, -0.3896758854f, 0.7206512094f, 0.2583603859f, -2.8177876472f, -0.2914963961f, 0.4590151906f, -9.9321269989f},
+ {-0.5632920861f, 0.1988572478f, -0.5542681813f, 5.7822799683f, 0.3820048273f, -0.2525918782f, -3.3970746994f, 0.2208536267f, 0.0045266999f, 0.3900515437f, -1.7668331861f, -3.6709997654f, -0.2005964518f, 0.1454627365f, -6.3249039650f, 0.2582260370f, -0.2433532774f, -0.9390440583f, -0.5737978816f, 4.1182165146f, 1.6590707302f, 4.8758029938f, -1.8478810787f, 0.0048876349f, 0.1774665117f, -0.1789420843f, -0.5673617721f, -0.2723075449f, -0.3745986819f, 0.0240579937f, -0.2824915946f, 8.3010101318f},
+ {0.4449025393f, 0.6115619540f, 0.0187926833f, -5.4022917747f, 0.0334641673f, 0.4216177166f, -0.8479185700f, -0.4422490299f, -0.2795608342f, -0.3466927111f, 2.2280035019f, 3.5217893124f, 0.1864205599f, -0.1767526865f, 6.5718340874f, 0.3395559490f, -0.0630193949f, -4.2917470932f, 0.4928318858f, -3.4380824566f, 2.2824761868f, -1.3895356655f, 1.8980522156f, 0.3309353590f, 0.0092654871f, 0.2050092816f, 0.4185230136f, -0.0931341946f, -3.0571875572f, -0.0199668277f, 0.0238261241f, -10.0575485229f},
+ {-0.0596951246f, -1.8140755892f, -0.1749392897f, 0.2104561627f, -0.2132787555f, -0.1574463993f, -6.4865732193f, -0.7267509699f, -0.1174281165f, -0.0856533423f, 0.4403370619f, -0.6915963888f, -0.2986042798f, -0.3891125619f, 1.3234760761f, 0.0340486430f, -0.0694809407f, -7.1216664314f, -0.1790750027f, 1.6705595255f, -5.9638838768f, -0.9045498967f, -0.1985210180f, -0.1773930788f, -0.1488362402f, -0.0660701320f, -0.0532661825f, -0.1185604334f, 0.3091884255f, -0.1427213848f, -0.0880882740f, 1.5660281181f}
+ };
+
+
+ const float fc1Bias[32] =
+ {-0.2996839881f, -2.2546701431f, -0.5477045178f, -1.2242631912f, -0.2746987045f, -0.5186939240f, -6.1057929993f, -0.9974002242f, -0.2025506645f, -0.2643158436f, -0.5174910426f, -0.6349564195f, -0.5265557766f, -0.5465639234f, -0.8746579289f, -0.2214775383f, -0.3936641812f, -9.3305616379f, -0.3976268172f, -0.0949812457f, -4.9294414520f, -0.2506873310f, -1.1473840475f, -0.2789034545f, -0.2843038142f, -0.1568380445f, -0.3574894667f, -0.1897565275f, -0.0161396451f, -0.5330590010f, -0.3432305753f, -2.3037126064f};
+
+
+ const float fc2Weights[32][32] =
+ {
+ {0.7028352022f, -0.2518471181f, -0.3251887262f, -0.1293392181f, -0.0480363145f, -0.2164561749f, -0.1114568934f, 0.0847787485f, 0.2538841367f, 0.0906840563f, 0.2075847685f, 0.0800402164f, -0.2112799883f, -0.3601601422f, -0.2693049312f, -0.3371258378f, 0.1860402822f, 0.1293898672f, 0.5152844191f, -0.0005433710f, -0.3649958968f, -0.5045146346f, 0.7517039180f, 0.0467921384f, -0.0150561901f, -0.2420729399f, -0.2145421207f, -0.7155304551f, 0.1590870321f, -1.1922683716f, 0.1453628838f, -0.3018942773f},
+ {0.4329630733f, 0.2430671006f, -0.8269199729f, -0.1718535721f, 0.6189324260f, -1.1788749695f, 2.3799111843f, -1.0581681728f, -1.0104187727f, -0.6895720959f, 0.6333325505f, 0.1227911711f, -1.3420652151f, 0.0161968544f, -0.9277707934f, -1.6182627678f, 3.4310810566f, -0.0272786003f, 0.9764053226f, 1.7808814049f, -1.4981951714f, -0.2589629292f, 0.0806718767f, -0.0988150090f, 0.0121101709f, -3.1666336060f, -0.9463910460f, -1.3826171160f, -0.1921611279f, -0.4246963561f, 0.0819954872f, -1.1248966455f},
+ {0.3439708948f, 0.1729307026f, -0.4266345203f, -0.1223015115f, -0.2364580184f, 0.0005747200f, 0.1383670121f, -0.0798279345f, -0.0409396328f, 0.2926900089f, 0.4414319098f, -0.0774125233f, -0.0639059693f, 0.0000417514f, -0.3764672279f, -0.2038611472f, 0.1025535613f, -0.2993794680f, 0.0265453998f, -0.0355118513f, 0.2918146253f, -0.4358098209f, 0.0194903836f, -0.0299784839f, -0.2588784993f, -0.2383993119f, -0.2728497982f, -0.3301697373f, 0.1411939114f, 0.1025134176f, -0.3637280166f, 0.1707316041f},
+ {-0.3416239917f, -0.1238532588f, 0.0436132401f, -0.3475806415f, -2.6594336033f, -0.9691415429f, -2.7146120071f, -0.4172722399f, -5.5016303062f, -3.0360279083f, -0.4493477941f, -0.3950566947f, -1.1143312454f, 0.0175548382f, 0.5904526711f, -2.4258356094f, -6.8880228996f, -0.3979260027f, -0.5621471405f, -8.3594980240f, -0.5225185752f, -0.0404085517f, 2.6085379124f, 0.0378435813f, -0.0098032495f, 2.7800383568f, 2.0576617718f, -1.8591514826f, -0.7343788147f, -0.4695331156f, 0.1112806350f, 1.4430732727f},
+ {-0.0525006801f, 0.3783730865f, 0.1891198754f, 0.0213207081f, -0.2073568851f, 0.1397801638f, 0.0859736055f, 0.2507794499f, 0.1215454638f, -0.1463970691f, 0.1565153897f, 0.0612230189f, 0.2093681097f, 0.1229698434f, -0.0846480504f, -0.2200313061f, 0.2009770274f, 0.0123162027f, -0.0025048242f, 0.0691637024f, -0.0181692336f, 0.2928285897f, -0.0372800417f, -0.3242078722f, 0.2153842747f, 0.0912938938f, 0.0259480923f, 0.2408835292f, -0.0780527815f, -0.0694554597f, -0.5314068198f, -0.3713911176f},
+ {-0.3659447432f, -1.0637227297f, -0.6574027538f, 0.1915589571f, -0.0923616737f, -0.6854819655f, -0.7665759921f, -0.3916678429f, 0.0046403264f, 0.1432497799f, -0.9219073057f, 0.3549784422f, -0.1066768840f, 0.0990313441f, -0.9819003344f, -0.6210372448f, 0.1118606776f, 0.2755944431f, -0.8569695354f, -0.1976287961f, -0.2853681743f, -0.6686331034f, 0.2660720646f, -0.1277324557f, 0.0465747900f, 0.4344924688f, -0.2714323103f, 0.2368822843f, -0.0763014555f, -0.2818318605f, -0.3344349861f, 0.1119496822f},
+ {-8.4284162521f, -0.5330117941f, 0.2430908680f, -0.9680790901f, 17.7502479553f, -11.1728906631f, -9.4553775787f, 6.4060249329f, -19.9450950623f, -9.8665761948f, -0.4943230152f, -0.0203626100f, 3.4065568447f, 0.1984576881f, 0.1283037961f, -1.1749160290f, -14.7431478500f, -0.9983112216f, -2.9252219200f, -6.1029782295f, -3.7169921398f, 0.0391248949f, -5.0480856895f, 0.1063139364f, -0.0771418661f, 9.4767627716f, -4.7266154289f, 2.5198585987f, -0.2968094051f, 0.0457970649f, -0.0931691378f, 5.0110268593f},
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+ {-0.2273397893f, -0.3498373628f, -0.0433691703f, -0.6629248857f, 0.1507195234f, -0.1990272850f, -0.1220994815f, 0.1678037792f, -4.3043742180f, -0.0007548440f, -0.3417711258f, -0.1170029715f, -1.3333457708f, -0.0142377056f, 0.5767194033f, 0.4187206626f, -0.0696189702f, 0.1859471947f, -0.3047918975f, 0.4045199156f, 0.2059099227f, -0.7050588131f, 0.1555795074f, -0.0812577009f, -0.3910994828f, -0.0145086460f, -0.0485258102f, -0.0066310908f, -0.1054076031f, -0.5957096219f, -0.2342762351f, 0.0350304283f},
+ {0.0149504738f, -0.0129147042f, -0.5884258151f, 0.0588622056f, 0.0843603089f, -0.0650319681f, -0.1795133650f, -2.2022593021f, 0.1941308379f, -0.2966808379f, -0.2518850267f, -0.2675821781f, -0.5772732496f, 0.1356097460f, 0.1572682261f, -0.4143220186f, -1.1145333052f, -0.1922410876f, -0.1281387955f, 0.0762870386f, -0.2557103634f, 0.0021827971f, 0.1089263260f, 0.2346664369f, 0.2724923491f, 0.0007219575f, 0.2104968876f, -0.0320289358f, -0.1094986573f, -0.0914234072f, -0.2628631294f, 0.1553151160f},
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+ {0.1309531778f, -0.4162278175f, 0.0861416981f, -0.0754620507f, 0.3168306947f, -0.3067710400f, -0.0102485251f, -0.1974389702f, 0.1207621619f, -0.0179167688f, -0.1688643098f, 0.0122922705f, 0.1167635992f, 0.0521559902f, -0.3053426147f, -0.3361171484f, -0.3374931216f, -0.2523073256f, -0.0067732469f, 0.0612988696f, 0.1934308410f, 0.0817848817f, -0.1016546264f, -0.1203937978f, 0.1065604016f, -0.1992163658f, 0.3401925266f, -0.0275416337f, -0.2688343525f, -0.0388706326f, 0.1756630838f, 0.4808184803f},
+ {0.4282532632f, -0.0259445906f, 0.3069318831f, -0.3668542504f, 0.3145154119f, -0.3847868145f, 0.2201283127f, -0.0448469892f, 0.1542371064f, 0.2123837769f, -0.1569138467f, 0.0211382862f, -0.2548147142f, -0.2737289667f, -0.3175657392f, -0.5842364430f, -0.0748774335f, -0.1540294737f, -0.1290857196f, 0.1770722121f, 0.1833150536f, 0.0081414832f, 0.2064791620f, -0.1276530772f, 0.1270321757f, 0.1417734623f, -0.2329282910f, -0.3905624747f, 0.2545000315f, -0.3035842478f, 0.0064902604f, -0.3016678095f},
+ {-7.5552926064f, -0.9295108318f, -0.2481519580f, 0.7649185658f, 1.9046311378f, -0.1586459428f, 2.0594851971f, -1.3088877201f, -1.2542868853f, -4.6562218666f, 6.3942017555f, -0.6503939629f, -0.7048695683f, 0.2057881355f, 6.5724821091f, 1.7823606730f, -2.8745467663f, -0.3315669894f, 0.9826352596f, -2.7425603867f, -1.9275763035f, -0.2427215725f, -0.5757774115f, 0.2017655820f, -0.1918183118f, -16.7525539398f, -0.7728430629f, 1.0563217402f, -0.4434075356f, -0.7302488089f, -0.2927037179f, 2.4355039597f}
+ };
+
+
+ const float fc2Bias[32] =
+ {-1.4964368343f, -0.4743577838f, -0.4512416422f, -0.4922141731f, -5.1149101257f, 8.8500652313f, -15.7193136215f, -0.0800511166f, 2.7641799450f, 3.4012768269f, 0.0683615580f, -0.1829399616f, 5.3457593918f, -0.4106808603f, -16.5018920898f, -11.1810235977f, -8.3992519379f, -0.4962880909f, -0.9232602119f, -11.2513113022f, 2.3576202393f, -0.4867421985f, -3.7326567173f, -0.2190053761f, -0.3950267136f, -1.8300843239f, 7.8722882271f, -1.0580558777f, -0.4571195245f, -0.4307751656f, -0.3282840848f, -4.9084253311f};
+
+
+ const float fc3Weights[32][32] =
+ {
+ {2.1267073154f, -0.3118368387f, -1.0274667740f, -0.3681430817f, -0.2503374219f, -1.2477926016f, -1.3221302032f, 1.8165496588f, -0.1359463781f, -1.7964631319f, -0.0097085517f, -0.3852086663f, -3.3534936905f, -0.8397763371f, -0.4446444511f, -1.6745910645f, 3.2378242016f, -1.0022313595f, -9.9781904221f, 0.1582326442f, 0.5432472825f, 0.0471910089f, 5.9129772186f, -0.2324501723f, -4.1757726669f, -2.3055243492f, 0.0340588912f, -9.1570177078f, 3.9973771572f, -5.0203042030f, -0.4807384312f, -0.2449323237f},
+ {0.2926399410f, -0.3126508892f, -0.2911956012f, -0.6654194593f, -1.9371089935f, -0.5545672178f, 0.4246672988f, 0.3819307983f, 0.2514972389f, -0.4406578541f, -0.9821344614f, -0.3851819932f, 1.1248499155f, 0.0522659570f, 0.0575070083f, 0.4138618112f, -0.8817019463f, -0.6708815694f, 0.4475752711f, -0.0536939353f, 0.2634044886f, -0.7456439734f, 0.3254241347f, 0.7578423023f, -0.0451397039f, -0.3245976269f, 0.3969579041f, -0.3185728490f, 0.5564263463f, -0.6522557735f, -0.1052212864f, -0.4474395216f},
+ {0.1283721924f, -0.0823663324f, -0.0326546133f, -0.4661917388f, 0.2401303649f, -0.2880379856f, -0.1517074406f, 0.2752179205f, -0.1285577416f, -0.9086889029f, 0.0597265214f, 0.0445332415f, 0.0693372712f, 0.3575956523f, -0.2324096560f, 0.6556770205f, -0.2550288737f, 0.0115993991f, -0.1578786522f, -0.2495867163f, 0.5065354705f, 0.1579007357f, -0.3488564789f, -0.3209209442f, -0.1637986600f, 0.0921269283f, -0.0206926819f, -0.4815258384f, 0.1049012691f, 0.0869352594f, 0.0118843094f, 0.0378016829f},
+ {-0.1867472231f, -0.0983402878f, -0.2410253137f, 0.1428901106f, 0.5535175800f, 0.4710266590f, 0.7919189930f, -0.1014919057f, -0.0083244918f, 0.1866499782f, -0.2188591063f, -0.2367116362f, -0.3858147562f, 0.2450350076f, 0.1948615909f, 0.2732373476f, -0.7079418898f, -0.4475770295f, -0.0726167932f, 0.0758384317f, -0.0683538988f, -0.3337415755f, 0.6586756110f, -0.3540558219f, 0.1567319185f, 0.2762941718f, -0.1348233819f, -0.2360792607f, -0.0053496510f, 0.3404291868f, 0.0747083575f, -0.4553619027f},
+ {-0.7439086437f, -0.5030723810f, -0.0015834231f, -0.2131769657f, -0.1265947670f, 0.6866528392f, -6.0031766891f, -1.1717530489f, -0.8875666857f, -0.7657486796f, -0.4995601177f, -1.3289493322f, 0.5762737989f, -0.1594046950f, -1.7588888407f, 0.0773057416f, -1.0809998512f, 3.3575456142f, -2.1498513222f, -0.1858167648f, 1.1153688431f, -0.2805164158f, -2.4953896999f, -3.0942769051f, -4.6361846924f, -7.2082462311f, -0.2423758358f, 9.1199541092f, -1.9552760124f, 1.5397961140f, -4.8174195290f, -0.1466594040f},
+ {-12.2784042358f, 0.2199732214f, -0.1896684021f, -0.3432999253f, -0.2287421525f, 3.4079124928f, -1.9381728172f, -0.6183780432f, -2.6809947491f, -13.9357881546f, -0.3349778652f, -1.1822427511f, -0.4702038467f, -0.4513809979f, -4.1594862938f, -1.3155949116f, -2.8984313011f, 0.8626719713f, 0.9431877732f, 0.1867329180f, 1.8311676979f, 0.0268813707f, -0.2230326235f, 1.5717616081f, 4.5641150475f, -5.9756793976f, -0.3749696314f, 6.8801670074f, -0.5390860438f, 2.2278966904f, 1.6726257801f, -0.4617499709f},
+ {-1.1322755814f, -1.6074182987f, 0.3383499086f, -0.0879338682f, -0.3024970293f, -0.9650658965f, -0.7258930802f, -2.2438650131f, -8.0822734833f, -1.1866042614f, -0.1294266731f, -0.3437821269f, -5.2474503517f, -3.8555898666f, -0.9632506967f, -1.5082763433f, -2.1201927662f, 1.0083860159f, 0.9984830022f, 0.0244099908f, 1.3445159197f, 0.0025331527f, 0.3188533485f, -1.2511210442f, 4.4629726410f, -0.6043246984f, -0.2112076432f, 0.2277358621f, -0.4532658756f, -2.5137176514f, -0.6861492395f, -0.2597316206f},
+ {-11.9988451004f, -0.1067576185f, -0.2066107839f, 0.0828568414f, -0.3275893927f, 2.5277581215f, 3.2627487183f, -5.6365389824f, 5.3499884605f, -3.2246093750f, -0.2226941139f, 0.1935922205f, -4.1013288498f, 0.0029573692f, -1.5204852819f, -4.4882822037f, 4.6080155373f, 4.0036969185f, 0.9089803696f, -0.2275806665f, -2.7591450214f, -0.1230073869f, 2.7025136948f, 5.8001189232f, -2.8862383366f, 1.4778681993f, -0.5003541112f, -8.5913944244f, 0.0913238823f, -3.5371487141f, 0.1153692529f, 0.0406519361f},
+ {-2.5129640102f, 0.3217219710f, -0.0095533794f, 0.1789117903f, -0.0394163057f, -12.0436925888f, 7.2080974579f, -0.6646071076f, 7.5206618309f, 3.8631877899f, -0.1600254625f, -0.8080578446f, -0.5643880963f, -0.0537163280f, -0.5046658516f, 0.4704113901f, -1.0934047699f, 1.3934750557f, 1.6021199226f, 0.2552498877f, -2.1392021179f, -0.1866302639f, -1.9532939196f, 4.3028411865f, -2.0663371086f, -1.1156477928f, 0.0436181799f, -4.5952415466f, -4.1031899452f, -4.2674293518f, -1.3652423620f, -0.3086400926f},
+ {-2.4256632328f, -0.8204917312f, -0.0080023678f, 0.0641652644f, 0.1045749411f, -6.7571711540f, -5.8372755051f, -2.5383017063f, 1.3260424137f, 0.7004460692f, -0.2244220227f, 0.5836414695f, -0.1815587580f, -0.3951809406f, -0.1336556673f, -4.6909227371f, -6.2935724258f, 3.7900424004f, 2.5683553219f, -0.1162255332f, 4.1622815132f, 0.1073398590f, -5.1608195305f, -8.2401542664f, -5.8381042480f, -7.4464135170f, -0.1182934269f, 3.2788193226f, 1.4351627827f, 6.3681168556f, 5.1041111946f, -0.1208729222f},
+ {4.9961571693f, 0.0185269248f, -0.2817080617f, -0.0505358987f, -0.2017169148f, 0.5220227242f, -9.6225223541f, 3.5301513672f, -1.2750257254f, -16.6149158478f, -0.2861652076f, -0.1112170741f, -2.9041886330f, -0.7071534991f, -1.5988026857f, -8.9261875153f, -14.3294153214f, 0.6273730397f, 1.6051287651f, -0.1642416716f, -3.4014506340f, 0.0300757475f, 6.7346963882f, -1.6067913771f, 1.6891504526f, -3.9646015167f, -0.0779341832f, 4.6224765778f, -0.5721715689f, -5.5780882835f, -0.1785165519f, 0.0633503497f},
+ {0.1060310677f, -0.5470390320f, -0.2241495699f, -0.4295381904f, -0.0263416618f, 0.2030417621f, -0.1120280996f, -0.0827973634f, -0.3317763507f, 0.0817295536f, 0.0069632535f, -0.1319767535f, 0.9747350216f, 0.2557510436f, 0.1425391138f, 0.1720905155f, -0.0782878473f, -0.0193020143f, 0.1281307042f, -0.2256549150f, 0.1310895681f, -0.5182238221f, 0.3424457908f, -0.1979330033f, 0.1891248226f, -0.0348026715f, 0.0921394229f, -0.0947700441f, -0.0883120522f, 0.0940800980f, 0.1856457591f, -1.7943713665f},
+ {-4.0017580986f, -0.9870634079f, -0.3691159189f, -0.4045964777f, -0.9596207142f, -4.4315557480f, -2.6966378689f, -2.4839437008f, 2.0009076595f, -2.3518767357f, 0.0318453647f, -0.5925750136f, -8.7461175919f, 1.2080634832f, -0.9580079317f, -1.3870022297f, -2.9447979927f, -4.2511048317f, -0.7817761898f, -0.3507715464f, 0.2093277872f, -0.2879707217f, 0.9649841189f, -10.7083244324f, -7.3718595505f, 1.7227441072f, -0.2694068253f, -2.7931368351f, 1.4890755415f, 0.6705868244f, 1.4951418638f, -0.1209532097f},
+ {-0.2123307288f, -0.3103626966f, -0.2075639665f, -0.0577281974f, -0.0194090679f, 0.2053133696f, -0.0279764533f, -0.1785610318f, -0.0686176419f, 0.2033739239f, -0.1825354397f, -0.0740804151f, 0.2677070498f, 0.2260797173f, -0.3779144287f, 0.0846814588f, 0.2516773045f, 0.1258523315f, 0.0956230313f, -0.1808306128f, 0.3722532988f, -0.1553636193f, -0.0801539496f, 0.2497462928f, -0.1287349761f, -0.1542355567f, -0.2239110470f, -0.0359012038f, 0.0341420211f, 0.1991766691f, -0.1235702857f, -0.0031303430f},
+ {6.9049019814f, -0.6181007624f, -0.1168652996f, -0.3459298015f, 0.1081510484f, -0.6562979817f, 2.9601066113f, 4.0602450371f, -0.7127177119f, -0.0100999130f, 0.5118251443f, 0.2948195040f, -14.6811800003f, -0.1756128967f, -2.3726568222f, -2.2973806858f, 0.2021040469f, 3.7788739204f, 0.0394109413f, -0.5389692783f, -2.5069026947f, -0.1306917369f, 1.1527950764f, -4.1568374634f, -5.4282240868f, 1.0624045134f, 0.2346842736f, -7.4216456413f, -10.1741409302f, -5.2678761482f, -1.5980980396f, -0.4154963493f},
+ {-5.9673295021f, -0.4644198418f, -0.4291569293f, -0.2272513807f, -0.4974555075f, 2.6671023369f, -6.5609960556f, 0.3609015644f, 10.3618955612f, -2.0600147247f, -0.5190568566f, -0.2184191942f, -1.4022922516f, -1.4489669800f, -4.0840444565f, -4.2195286751f, -0.4894198477f, -2.7413768768f, -6.3571834564f, -0.1267714947f, -0.8546049595f, -0.2224794775f, -0.3131478429f, -0.9897703528f, -6.1158819199f, 0.3078280985f, -0.4307037592f, -14.2193670273f, -0.3561481237f, -9.1594533920f, -0.7577811480f, -0.3548552096f},
+ {-6.2391667366f, -0.1269952357f, -0.2936189175f, -0.9923886061f, 0.0176051259f, -1.9780510664f, 0.0654375777f, -1.7040052414f, -0.1822838187f, -1.7437926531f, -1.0801513195f, -0.7526912093f, -5.0536708832f, -0.7413324714f, -2.9236466885f, -6.1675448418f, -0.9600590467f, -2.5335817337f, -1.1323231459f, -0.8290102482f, 0.5944318175f, -0.0634517670f, 0.9594070911f, 1.3713343143f, -3.9021794796f, -0.7598190904f, -0.7681146860f, -1.0350772142f, 0.8626580238f, -1.0701311827f, 0.6357883215f, -0.1052244753f},
+ {0.0669496581f, 0.1127517670f, -0.0209338553f, -0.0054164180f, -0.1271978915f, 0.0695113614f, -0.3660996258f, -0.7821827531f, -0.2065943033f, 0.2308539152f, 0.4742313325f, 0.1034071371f, -0.0490562394f, 0.4140049219f, -0.0322051346f, -0.0112497425f, 0.0862999111f, -0.1826869249f, -0.0142615261f, -0.0710267127f, 0.0182412416f, 0.0835287198f, -0.0485102497f, -0.1113768369f, -0.3792001903f, -0.0910689160f, 0.0768057555f, -0.4180118442f, -0.0000109978f, -0.0632229522f, 0.0589419529f, 0.1596196741f},
+ {0.3151653707f, -0.4588074088f, -0.3387854099f, 0.1461272687f, 0.0001908212f, -0.0586236343f, -0.8286342025f, 0.2795176804f, 0.4374869168f, 0.0628984645f, -0.2587254047f, 0.2453358322f, -0.6134222746f, 0.0773593485f, 0.2486565858f, -0.5328485370f, 0.6034097075f, -0.3007964790f, -0.2765316963f, -0.2508219779f, -0.2341709882f, 0.0143393278f, 0.1970690787f, -0.2759173810f, -0.7320910692f, -0.2636430860f, -0.0779949948f, -0.5681775808f, 0.0010494586f, 0.3486377001f, 0.5590596199f, -0.1548434943f},
+ {0.2904222906f, 0.2120339572f, -1.5837268829f, 0.1351595223f, -1.0482976437f, 0.6585662961f, 1.2837238312f, -8.8914051056f, 0.1900334507f, -6.2876024246f, -1.1750501394f, -0.9563908577f, -6.0589551926f, -0.0554546751f, -2.5099968910f, 0.2854703367f, 0.5719563365f, -0.4985203147f, -0.8484790921f, -0.2796662748f, -2.6506903172f, -0.0737289563f, 0.1099997908f, -6.8096685410f, -9.5710783005f, -3.5462114811f, -0.3454555869f, -4.1742453575f, -6.2087631226f, 1.0913355350f, -5.9188799858f, -0.0447143987f},
+ {-0.1762033552f, -0.9464151859f, -0.3476518989f, -0.1438073069f, -0.1068934649f, -2.6918101311f, 13.4009866714f, -0.0717068240f, -1.2019355297f, -2.8347525597f, 0.1641165912f, -0.0925235450f, 4.8379797935f, 2.1199939251f, -0.3954177201f, -1.5702075958f, 0.0889840126f, -1.7895882130f, 1.9846193790f, -0.0691496804f, -6.4447302818f, 0.1634601355f, 9.6448106766f, -0.7868277431f, 2.1918652058f, -0.5956330895f, -0.4198028147f, 2.8396642208f, 3.0820310116f, 3.5346202850f, 1.1110432148f, 0.1005667076f},
+ {0.2411281914f, 0.1411192566f, -0.0250760857f, -0.1230037659f, 0.6549731493f, 0.2007940114f, -1.5664811134f, 0.3535908461f, 0.6514756680f, -0.3146148622f, 0.0244260952f, -0.1043881625f, 0.5631551743f, -0.1026171371f, -0.2293619066f, 0.0751082525f, 0.1610344499f, 0.3488910794f, -0.3952502310f, 0.0538705476f, -0.1643067747f, -0.0639704242f, 0.1503835022f, 0.1106679291f, 0.3851269782f, 0.3049305081f, 0.2240979224f, 0.4056433737f, -0.3284457624f, -0.4254478812f, -0.0813698918f, -1.5299969912f},
+ {4.3450713158f, -0.4628526270f, -0.1491935551f, -0.2041818649f, -0.5786065459f, -1.2504427433f, -0.2758893967f, -0.3101694584f, 2.9785020351f, -4.7803659439f, -0.3506944776f, -0.9885157347f, -7.2183914185f, -0.1302880943f, -2.8009421825f, -0.6073452830f, -0.8039718270f, -12.0689706802f, -0.7140820026f, -0.3246946931f, 2.0155956745f, -0.3901022673f, 3.3020424843f, -0.5596037507f, 0.5555099249f, 0.2735705674f, -0.2914109826f, -14.4507541656f, -17.0698108673f, -4.3910245895f, -5.2524790764f, -0.2280410379f},
+ {-0.0042843656f, -0.1069235355f, 0.0691635162f, 0.0867756158f, 0.2937769592f, 0.0736219883f, -0.1853623986f, -0.1654763520f, 0.2185866535f, 0.1437660605f, -0.2649201155f, -0.1712868661f, -0.0538765527f, -0.1329404116f, 0.0423769951f, 0.3043175936f, 0.2732996941f, 0.0199668072f, 0.2512804568f, 0.1751035899f, -0.2383348942f, -0.2895450890f, -0.0679779947f, -0.2974975705f, 0.1156523153f, -0.2165189683f, 0.2342301458f, -0.1439705789f, 0.3337920308f, 0.2263115346f, 0.2996229827f, 0.1000883803f},
+ {-0.0903539732f, -0.2626895308f, -0.2928705215f, -0.1522098780f, -0.1990660727f, 0.1050468609f, 0.0752090216f, -0.0103869336f, 0.0290090404f, -0.2140946537f, -0.3905937076f, -0.0324644707f, 0.1388606578f, -0.0920412987f, 0.2089990675f, -0.0512218550f, 0.0448999256f, -0.0192409158f, 0.0232043508f, -0.1123628542f, 0.1863525957f, -0.1689641625f, -0.0414763764f, -0.0482044294f, 0.1756522357f, 0.3836692274f, -0.2097899765f, 0.0034760062f, 0.3211987317f, -0.1981586516f, 0.0146787502f, 0.1057996526f},
+ {-0.5354076028f, -0.3253239095f, -0.1333258152f, -0.0967850685f, 0.0488308556f, 1.7821354866f, -2.4696009159f, -1.0925548077f, 4.8946523666f, -5.5363497734f, -0.0556999668f, -0.3859304488f, -0.4668995738f, 1.1459211111f, 0.0986527577f, -5.5068421364f, -2.1916167736f, 0.9777641892f, 1.2964626551f, -0.1227272600f, -2.6892449856f, 0.2693175077f, 2.4651014805f, -0.2143563330f, -8.1490335464f, -1.1221495867f, -0.2091181278f, -2.5353107452f, 1.5514105558f, -0.8118920326f, -0.0759748369f, 0.0815865844f},
+ {-1.1687350273f, 0.0523806289f, 0.1928860396f, -0.1731245518f, -0.0422611423f, -3.5962536335f, 2.1258342266f, 0.0682783425f, -0.6722916365f, 0.6611677408f, -0.4290418625f, -0.2772609890f, 0.0911868215f, -0.2093296349f, -2.5827946663f, 4.6710624695f, 2.0906822681f, 0.5159549713f, 0.3715068996f, -0.2340186238f, -0.4284092188f, 0.0376657546f, -5.7211947441f, -1.1870640516f, 2.2118372917f, -8.0735073090f, -0.0517498069f, -4.1637449265f, -17.3150138855f, 3.2159905434f, -5.9302067757f, -0.0362711921f},
+ {-9.7952108383f, -0.6339132190f, -1.7921937704f, -0.3130472600f, -0.7404204011f, -1.6049377918f, 0.1309763938f, -7.6337146759f, 0.4408401549f, 3.3682234287f, -0.7966508269f, -0.0931789875f, -4.3933353424f, -7.4179029465f, 0.2328766286f, -2.2703931332f, -11.0213117599f, -11.4555244446f, 0.8035743237f, -0.3479077518f, 2.3253028393f, -0.1451899409f, -0.3695332706f, -16.2041606903f, -3.2792532444f, 0.6592780352f, -0.4765171707f, 1.1891194582f, -0.2045537680f, -0.2613292336f, -7.1603960991f, -0.0806212798f},
+ {-0.2485560924f, -0.5306785703f, -0.2062491179f, -0.1363802254f, -0.0375753008f, -0.2761560082f, -0.2498460114f, -0.0567790791f, -0.4666529298f, -0.0051496779f, 0.0906768441f, 0.3301909864f, 0.0531814285f, 0.2584980726f, 0.0183127709f, 0.1766013205f, 0.1447227001f, -0.1579496711f, 0.0043631280f, 0.1031887531f, 0.0396930017f, -0.0095448559f, 0.1428825110f, -0.0905142054f, 0.0705604851f, -0.7297466397f, 0.1558683962f, -0.0418609716f, 0.1233214065f, 0.1279907525f, 0.1352362633f, -0.0770157427f},
+ {-0.0049988753f, 0.1279107481f, 0.0449896753f, 0.6752018332f, -0.2889954150f, 0.4311439991f, -0.3787408769f, -0.4591981173f, -0.1940811723f, -0.0184744801f, 0.0441148244f, -0.1790693253f, -0.7149969935f, -0.0285517797f, -0.1489535421f, -0.5780433416f, 0.5109094977f, 0.6176788211f, -0.3211218417f, 0.1074986085f, 0.2505583465f, -2.5777461529f, 0.3480081260f, -0.8229233623f, -0.6535633206f, 0.5414181352f, 0.8112808466f, -0.3283018768f, 0.4965822697f, 0.8790674806f, 1.1569755077f, 0.2319966406f},
+ {-0.2767451704f, 0.2554717064f, -0.2503568828f, 0.2911026180f, -0.0896157026f, 0.0468162894f, -1.6308424473f, -0.2833184302f, -1.0214830637f, -0.1677722186f, 0.0416059718f, -0.0212873127f, -1.5793803930f, -0.0655662566f, -0.2267671078f, 0.3937034011f, 0.0103700571f, 0.1117373928f, 0.3512356877f, -0.1141320691f, 0.2422832102f, -3.8471693993f, -0.6802755594f, 0.1919109225f, -0.2617484927f, -0.5890094638f, 0.0800860524f, 0.1804080307f, -0.0786418170f, 0.2081480175f, -0.2514747679f, -1.6461024284f},
+ {-4.4110560417f, 0.0582131147f, -0.2296621650f, 0.0098368116f, -0.3111234009f, -0.7137008309f, 2.6443011761f, -5.5492348671f, -4.7353625298f, -1.0368877649f, -0.4160888791f, -1.2896853685f, 3.9724817276f, -10.6603651047f, 2.2762250900f, -3.0436787605f, -8.0274572372f, -1.4319875240f, -3.7743313313f, -0.0725755915f, -0.0383329280f, -0.3231822848f, 0.4311948717f, -2.6726655960f, -0.5350571871f, -1.4796928167f, -0.1884928495f, -5.7419962883f, -0.9663215280f, 0.1886327565f, -8.7959461212f, -0.1736448258f}
+ };
+
+
+ const float fc3Bias[32] =
+ {-11.7193555832f, -0.6158396602f, -0.5767308474f, -0.4492973387f, -0.4815680087f, -1.5243271589f, -28.5404338837f, 4.9779524803f, -48.1950645447f, 5.1014094353f, -0.8038403392f, -0.7135465741f, 7.9977378845f, -3.9328453541f, -22.0385246277f, 0.3583163023f, 1.1570060253f, -13.7082090378f, 2.4488532543f, -0.4611511827f, -7.0892620087f, -0.3534394205f, -4.1933374405f, -13.2186746597f, -16.0344810486f, 5.2995457649f, -0.7092553973f, -11.6922359467f, 5.9151840210f, -4.7581868172f, -5.7193002701f, -0.4998539686f};
+
+
+ const float fc4Weights[32][16] =
+ {
+ {0.1313932389f, -0.6613871455f, 0.0097358534f, -0.1018039361f, -0.4058391750f, 0.4376264215f, -1.2572003603f, -3.6500022411f, -0.4249550700f, -0.2536546886f, -0.8922878504f, -0.4847670496f, -0.5938788652f, 0.1258193851f, -0.2272187024f, -0.1410650164f},
+ {0.0492341593f, 0.0943892971f, -0.5367519855f, 0.2006352544f, -0.3140752912f, 0.3790577352f, 0.5460243821f, 1.5730974674f, 0.4506726563f, -0.3239695728f, 0.1827834398f, -0.2436640859f, 0.4437866211f, 0.3330729902f, -0.2623860538f, -0.2274987251f},
+ {0.3261446357f, -0.5036940575f, -0.0645739883f, 0.1797081381f, -0.0971707106f, 0.7298631668f, -0.4873719513f, -0.1038509980f, -0.8186036348f, -0.0861302018f, 0.0887329206f, -0.2477209568f, -0.4017193019f, -0.2803779542f, 0.5708403587f, 0.7890117168f},
+ {-0.4605375826f, -0.3520908654f, 0.4579149187f, -0.6693316698f, 0.3497380316f, 0.2658064663f, -0.1681881249f, -0.3272072375f, -0.0845411718f, 0.2394114435f, -0.0101059023f, 0.4046859443f, -0.7417863607f, 0.4150537550f, 0.0869048312f, 0.0200589113f},
+ {-0.7960591316f, 0.7115456462f, 0.5414740443f, 0.2834898829f, -0.1049120426f, 1.2471122742f, 0.9764256477f, -0.2314370126f, 0.4565517008f, -0.1377106160f, 0.0066791684f, -0.0875304118f, -0.3973374367f, -0.4656803310f, -1.2865468264f, -0.2754203975f},
+ {-0.1267081201f, -0.3586117029f, -0.4626653492f, 0.0707737282f, -0.4280650318f, 0.3731042147f, -1.5224643946f, -0.0001562309f, -0.5457718372f, -0.8392512798f, -0.3297198415f, -3.6849846840f, -0.3235607445f, -0.4571735561f, -2.5906243324f, -0.0216693431f},
+ {-0.1975702047f, -0.6478233337f, -1.0000374317f, -0.7892091870f, -0.6129112840f, 0.4033009410f, -1.0652874708f, -5.0731873512f, -0.8335696459f, -0.0490954109f, -4.0255231857f, -2.5913162231f, -0.0984867662f, -0.3165186942f, -1.6619985104f, -0.1019358039f},
+ {-0.0070813317f, -1.4723222256f, -0.1055053324f, -0.0588658154f, -0.0424999259f, -2.5744652748f, -1.9830906391f, 1.0004559755f, 0.7691277862f, -0.1811856925f, -0.2902224660f, -0.2105268091f, 1.2195326090f, -0.0701754391f, -0.4191590548f, 0.0362841599f},
+ {-0.1953794360f, -0.7642983794f, -0.5502391458f, -0.6046341658f, -0.0868658274f, -1.0930783749f, -0.4096246660f, -0.2226173431f, -0.9467145205f, 0.0366492942f, -1.0827271938f, -1.3997668028f, 0.1914290041f, -0.1873319149f, -0.3942896426f, 0.0503584519f},
+ {-0.0302787200f, -5.7183461189f, 0.0836869702f, -0.1351985931f, 0.1218350157f, -0.0037351907f, 0.9376742840f, 0.5179937482f, -1.2707405090f, -0.2760854661f, 0.9394776821f, -0.6231134534f, -0.5011545420f, -1.0431542397f, -0.3772255182f, -0.9186507463f},
+ {0.5151054263f, -0.1792936772f, 0.5858933330f, -0.0756824464f, -0.1400850862f, 0.3227327764f, -0.0678724647f, 0.6420112848f, 0.7452553511f, 0.0104118586f, 0.1161525100f, -0.9172155261f, -0.3198927939f, 0.0625916570f, 1.1083164215f, 0.5252248645f},
+ {0.0453939959f, 0.0149580799f, -0.6745067239f, 0.2029461563f, 0.2238395065f, -0.2415017635f, -0.0304794274f, 0.0479286723f, -0.3008814454f, -0.2162462026f, -0.3752769828f, 0.7910355926f, -0.1502458900f, 0.2189511806f, -0.4534323215f, 0.2343945056f},
+ {-0.0660357103f, 0.5701023936f, -0.7573124170f, -0.4243010581f, -0.3647210896f, 0.9252396226f, -2.1346116066f, -1.5707424879f, -1.0428055525f, 0.0289310124f, -2.2915866375f, -2.0114760399f, -1.4218503237f, -0.6069518924f, -3.6163923740f, -1.0943173170f},
+ {-0.3510537148f, 0.0646613464f, -0.1941086054f, -0.3585000038f, -0.6358650923f, 0.4817451835f, 0.1834470332f, 1.5077445507f, 0.1200657785f, 0.0157124996f, 0.0893150121f, 0.2747304440f, -0.8162755370f, -2.2185630798f, -0.7672387958f, -0.7171642184f},
+ {-0.2655964494f, -0.6097341180f, 0.2751416266f, 0.0416029692f, -0.3487569392f, -4.3967308998f, -0.0399694182f, -0.5985686183f, -0.3526073098f, -0.0124356151f, -0.7412110567f, 0.3568145633f, 2.2140672207f, 0.3069616854f, -0.3047554493f, -0.9152814150f},
+ {-0.3112998009f, -1.2923207283f, -0.2642335892f, 0.1059029102f, -0.6062253118f, 1.7047382593f, -0.2192801982f, -7.2568459511f, -0.6452113390f, -0.1957286149f, 0.4478967488f, 2.1868736744f, 1.0964838266f, -0.5934657454f, -0.9350823164f, 0.1335169673f},
+ {-0.1445592940f, -3.8598067760f, -0.0888997465f, -0.4536363184f, -0.0818780512f, -0.5499716997f, 0.8879400492f, 0.3036511838f, -2.1018016338f, -0.3131541610f, -2.5331704617f, -2.7884752750f, -1.5264098644f, -0.2974909842f, -0.3884962499f, -1.6347447634f},
+ {-0.1576830745f, -1.0188829899f, -0.1347837746f, 0.0133346859f, -0.1020436883f, 0.9006328583f, 0.4465196133f, -1.9912528992f, -1.1890530586f, -0.2928483784f, -1.1970791817f, -1.0793333054f, -0.6542327404f, 0.0027635724f, -0.7239921689f, -0.1350315958f},
+ {-0.0101720933f, 0.8065249920f, -0.2725579739f, -0.5590948462f, -0.6773648858f, -0.9759730697f, 1.1105380058f, -0.9370074272f, -1.0632905960f, -0.2358790785f, -2.6182923317f, -0.5131548643f, 0.3938317299f, -0.6527919173f, -0.5773690343f, -2.7888607979f},
+ {0.9983167648f, 0.0334987827f, 0.1105532423f, -0.4079656899f, -0.1334102899f, 0.1476265639f, 0.0125124194f, -0.2545211911f, -0.3887112439f, -0.3177830279f, -0.3589894176f, 0.1081808954f, -0.3721842766f, 0.0556281544f, -0.0388795845f, 0.2037374824f},
+ {-0.4827512801f, -0.2132459283f, -0.9375121593f, -1.3464082479f, -0.5630852580f, 0.0437785275f, -6.4064550400f, -2.0924882889f, -0.2812258899f, -0.5477465987f, -1.5397117138f, -4.5946688652f, -0.4861118793f, -0.7390319705f, -1.4275629520f, -1.5372459888f},
+ {0.0196762551f, -0.0118051507f, 0.2246439159f, -0.2613828778f, -0.5333120823f, -0.1223717630f, -0.1976639330f, -0.1101496667f, -0.0134799089f, 0.0676583350f, 0.2612578273f, 0.1215140149f, 0.2203066051f, 0.2337986380f, 0.1590026319f, -0.0366739817f},
+ {-2.0189671516f, 0.4665688872f, -0.8338592052f, -0.3301258981f, -0.4463534951f, -0.3213590384f, -0.2176769376f, -0.7976086736f, -1.4433599710f, -0.9578914046f, -2.3176016808f, -3.3081896305f, 0.1362658292f, -0.9325780272f, -7.5809931755f, -6.1999273300f},
+ {-0.2162996083f, -1.1839522123f, -1.3205081224f, -0.0846010596f, -0.2445309013f, -0.2086048126f, 0.8832997084f, 0.2233153582f, 0.6593582034f, -0.2484957576f, -0.5232675672f, -0.0044967751f, 0.1215033680f, -0.2973840833f, -0.0051185489f, 0.4212923348f},
+ {-0.3386851847f, -0.1535801440f, 0.2589180470f, -0.5164783001f, -0.0374755822f, 0.2122802138f, 0.2694437504f, -1.9194368124f, -0.4101884961f, -0.5941445827f, -1.8583507538f, -0.8249487281f, -1.2600407600f, -0.3161348701f, -1.8951197863f, -0.5458792448f},
+ {-0.5639970899f, 0.5414865613f, -0.9907631874f, -0.7151839733f, -0.3994543254f, -0.8817944527f, -0.5968976021f, -0.2674676180f, 0.4723920822f, -0.6860534549f, -1.4526910782f, -2.7732286453f, 0.6615548134f, -0.4297663867f, -0.3635542095f, -0.7897509336f},
+ {0.2338507622f, -0.0548883379f, -0.6124376655f, 0.3055166602f, -0.6472301483f, -0.0934592113f, -0.0791300610f, 0.0744187683f, -0.0494301580f, -0.0888935924f, -0.2844451666f, -0.3919087350f, -0.1899581403f, 0.0696015507f, -0.3865183890f, 0.1351541430f},
+ {-0.3884226382f, 0.6438637376f, -0.0235484447f, -0.4085457325f, -0.3678089380f, -0.3611978292f, -1.9616941214f, -0.6029480100f, -1.0217937231f, 0.0628737658f, 1.1272052526f, -0.7026557922f, -2.6631255150f, -0.0570945218f, -0.8197408915f, -0.0155918878f},
+ {-0.3045629263f, -1.2819237709f, -0.4050366580f, -1.0614979267f, -0.1641227305f, -1.2281309366f, -1.3765566349f, 0.6788370609f, -1.5758328438f, -1.0314040184f, -6.2401552200f, -3.9707064629f, 0.3741535544f, -0.5852952600f, 0.2783090174f, -0.1958702654f},
+ {-0.3730004132f, 0.3823136389f, -0.0965899155f, -0.1237012967f, -0.0356198289f, -0.2304152846f, -2.5172274113f, -0.2180451900f, -0.3073972762f, -0.2923755348f, -4.9185404778f, -3.6769018173f, -0.4479543269f, -0.0074586943f, 0.7228356004f, -0.3836637735f},
+ {-1.5993598700f, -1.3894209862f, 0.0539587401f, -0.3277336061f, -0.2855097055f, -3.6847970486f, -4.5063147545f, -1.4260863066f, -3.9039046764f, -1.1701396704f, -1.8200896978f, -2.4587380886f, 0.2993653715f, 0.0570639670f, -2.6918485165f, -1.4997549057f},
+ {0.1219597459f, 0.0154820858f, 0.3974801600f, 0.3066018224f, 0.1819918901f, 0.0161614101f, 0.0640004650f, 0.1952118576f, -0.2755865157f, 0.0411446691f, 0.0500190333f, 0.1724539101f, -0.1740499139f, 0.3841970265f, 0.3317279220f, 0.4177183211f}
+ };
+
+
+ const float fc4Bias[16] =
+ {-0.5141325593f, -0.8478075862f, -1.0021078587f, -1.7178856134f, -0.9628381133f, 0.1455254108f, -3.6562759876f, 1.7083742619f, -8.0320730209f, -0.9758637547f, -3.8376631737f, -0.1638645679f, 3.8785557747f, -1.0468775034f, -29.1870574951f, -6.1543283463f};
+
+
+ const float fc5Weights[16][8] =
+ {
+ {-0.0377756208f, -0.0376064293f, -0.0772271156f, 0.5590630174f, -0.3684624434f, 1.0009193420f, 1.3445713520f, 0.5627732277f},
+ {-0.4041293859f, 0.1303688884f, -0.3772308826f, -0.8144312501f, -0.3996099234f, -0.8786695004f, -0.1038818136f, -0.6491676569f},
+ {-0.1548538208f, -0.4342842698f, -0.3643324077f, 0.7171005011f, -0.2240766436f, -0.3029537201f, 0.0784914643f, 0.2668318450f},
+ {0.0582836233f, 0.1667208225f, 0.1605709791f, -0.8526514769f, -0.0394123383f, 0.3542331457f, -0.0112714395f, -0.8478502035f},
+ {0.1886940002f, 1.4096331596f, -0.0266252328f, 0.1160744503f, 1.3083670139f, -0.4767547250f, -0.7634902000f, -1.2924789190f},
+ {-0.3800563812f, -0.2717871964f, -0.2375701517f, -0.8516035080f, -0.3561956882f, -0.5633419156f, 0.1343641281f, -0.8182802796f},
+ {-0.4533548355f, 0.4980821609f, -0.0113001689f, -0.6163378358f, -0.0099237291f, -0.0464528799f, 1.4334065914f, -0.1762148142f},
+ {-0.4913391173f, 0.1923918128f, -0.5117462277f, -0.5446628928f, -0.7394183278f, 0.1009852663f, -0.2048954815f, -0.3028838933f},
+ {0.0514116511f, -0.1429781914f, -0.2054089010f, -0.3337486684f, -0.9298329949f, -0.0842700675f, -0.9120995402f, -1.0035445690f},
+ {0.1642776728f, -0.1338489354f, -0.3949478865f, 0.2676415145f, 0.2334752530f, 0.1165231466f, 0.3371087313f, -0.0303090699f},
+ {-0.0316087417f, -0.3532579839f, -0.5091804862f, 0.0389130265f, -0.1303991377f, -1.4411540031f, -0.0542913377f, -0.6798272133f},
+ {-0.0166958608f, -0.3853805959f, -0.0088427681f, -0.1329081804f, -0.1517693698f, -0.7518531680f, -0.0679639205f, 0.1632424593f},
+ {-0.2969943583f, 0.2169936597f, -0.2704928219f, -0.5222067237f, -0.2086613327f, -0.5919396281f, -0.1555189341f, -0.5921875238f},
+ {0.3620398343f, -0.0771873146f, -0.4576121271f, 0.4077250361f, 0.1402812898f, -0.3508163095f, -0.0904585123f, 0.1637402475f},
+ {-0.3381429911f, -0.9172439575f, -0.2056993395f, -0.0469768532f, -0.0229178257f, 0.0243457071f, -0.1943701357f, -0.0122073563f},
+ {-0.2032035887f, -0.0370536968f, -0.2462941855f, 0.3719790280f, 0.1286954135f, 0.1040267125f, 0.2068356276f, 0.0400213264f}
+ };
+
+
+ const float fc5Bias[8] =
+ {-0.4388153255f, -2.2450299263f, -0.3559921980f, -0.9536105990f, -1.0454660654f, -0.8810431957f, 1.6276029348f, -0.6507120728f};
+
+
+ const float fc6Weights[8][1] =
+ {
+ {-0.5150820613f},
+ {0.1128230840f},
+ {0.0093749743f},
+ {-0.4838168621f},
+ {0.2524490356f},
+ {-0.4693250954f},
+ {-0.1718080938f},
+ {-0.4312117100f}
+ };
+
+
+ const float fc6Bias[1] =
+ {0.0394757539f};
+
+}
#endif
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/test/KITGripperEtherCATTest.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/test/KITGripperEtherCATTest.cpp
index 3da76c7c4..9c563c676 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/test/KITGripperEtherCATTest.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/test/KITGripperEtherCATTest.cpp
@@ -36,7 +36,7 @@
BOOST_AUTO_TEST_CASE(torqueEstimationPerformanceTest)
{
TIMING_START(NN_Calc);
- float t = 0;
+ // float t = 0;
int iterations = 1000;
for (int i = 0; i < iterations; i++)
{
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
index c15f0ae31..c0d0f4c50 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
@@ -328,8 +328,8 @@ namespace armarx
Eigen::Matrix4f leftTargetPose;
Eigen::Matrix4f rightTargetPose;
- float leftKratio = 1.0;
- float rightKratio = 1.0;
+ // float leftKratio = 1.0;
+ // float rightKratio = 1.0;
if (leaderName == "Left")
{
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
index ee30c07a9..6b38de60d 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
@@ -189,14 +189,14 @@ namespace armarx
double timeDuration = timeDurations[i];
std::string dmpType = dmpTypes[i];
- double amplitude = 1.0;
+ // double amplitude = 1.0;
if (dmpType == "Periodic")
{
if (canVals[i] <= 1e-8)
{
canVals[i] = timeDuration;
}
- amplitude = amplitudes[i];
+ // amplitude = amplitudes[i];
}
if (canVals[i] > 1e-8)
--
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