Improve armar7 platform movement

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp

@@ -31,7 +31,8 @@ namespace armarx
     NJointHolonomicPlatformVelocityControllerWithRamp::
         NJointHolonomicPlatformVelocityControllerWithRamp(RobotUnit* prov,
                                                           ConfigPtrT cfg,
-                                                          const VirtualRobot::RobotPtr&)
+                                                          const VirtualRobot::RobotPtr&) :
+        ramp(cfg->maxPositionAcceleration, cfg->maxOrientationAcceleration)
     {
         target = useControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)
                      ->asA<ControlTargetHolonomicPlatformVelocity>();
@@ -44,28 +45,18 @@ namespace armarx
         velocitySensor = sensor->asA<SensorValueHolonomicPlatformVelocity>();
         ARMARX_CHECK_EXPRESSION(velocitySensor)
             << "Sensor value for " << cfg->platformName << " has invalid type";
-
-        ramp.setMaxPositionAcceleration(cfg->maxPositionAcceleration);
-        ramp.setMaxOrientationAcceleration(cfg->maxOrientationAcceleration);
     }
 
     void
     NJointHolonomicPlatformVelocityControllerWithRamp::rtPreActivateController()
     {
-        const float velX = velocitySensor->velocityX;
-        const float velY = velocitySensor->velocityY;
-        const float velRot = velocitySensor->velocityRotation;
+        activationVelocity(0) = velocitySensor->velocityX;
+        activationVelocity(1) = velocitySensor->velocityY;
+        activationVelocity(2) = velocitySensor->velocityRotation;
+        activationTime = IceUtil::Time::now();
 
         // init velocity ramp
-        Eigen::VectorXf state(6);
-        state << velX, velY, 0, 0, 0, velRot;
-        ramp.setState(state, VirtualRobot::IKSolver::CartesianSelection::All);
-
-        NJointHolonomicPlatformVelocityControllerControlData data;
-        data.velocityX = velX;
-        data.velocityY = velY;
-        data.velocityRotation = velRot;
-        reinitTripleBuffer(data);
+        ramp.init(activationVelocity);
     }
 
     void
@@ -73,29 +64,37 @@ namespace armarx
         const IceUtil::Time& sensorValuesTimestamp,
         const IceUtil::Time& timeSinceLastIteration)
     {
-        //        auto commandAge = sensorValuesTimestamp - rtGetControlStruct().commandTimestamp;
-
-        //        if (commandAge > maxCommandDelay && // command must be recent
-        //            (rtGetControlStruct().velocityX != 0.0f || rtGetControlStruct().velocityY != 0.0f ||
-        //             rtGetControlStruct().velocityRotation !=
-        //                 0.0f)) // only throw error if any command is not zero
-        //        {
-        //            throw LocalException(
-        //                "Platform target velocity was not set for a too long time: delay: ")
-        //                << commandAge.toSecondsDouble()
-        //                << " s, max allowed delay: " << maxCommandDelay.toSecondsDouble() << " s";
-        //        }
-        //        else
-        //        {
-        Eigen::VectorXf x(6);
-        x << rtGetControlStruct().velocityX, rtGetControlStruct().velocityY, 0, 0, 0,
-            rtGetControlStruct().velocityRotation;
-
-        Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
-        target->velocityX = result(0);
-        target->velocityY = result(1);
-        target->velocityRotation = result(5);
-        //        }
+        auto commandAge = sensorValuesTimestamp - rtGetControlStruct().commandTimestamp;
+
+        if (commandAge > maxCommandDelay && // command must be recent
+            (rtGetControlStruct().velocityX != 0.0f || rtGetControlStruct().velocityY != 0.0f ||
+             rtGetControlStruct().velocityRotation !=
+                 0.0f)) // only throw error if any command is not zero
+        {
+            throw LocalException(
+                "Platform target velocity was not set for a too long time: delay: ")
+                << commandAge.toSecondsDouble()
+                << " s, max allowed delay: " << maxCommandDelay.toSecondsDouble() << " s";
+        }
+        else
+        {
+            Eigen::Vector3f result;
+            if (activationTime > rtGetControlStruct().commandTimestamp)
+            {
+                result = ramp.update(activationVelocity, timeSinceLastIteration.toSecondsDouble());
+            }
+            else
+            {
+                Eigen::Vector3f x(rtGetControlStruct().velocityX,
+                                  rtGetControlStruct().velocityY,
+                                  rtGetControlStruct().velocityRotation);
+                result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
+            }
+
+            target->velocityX = result(0);
+            target->velocityY = result(1);
+            target->velocityRotation = result(2);
+        }
     }
 
     void
@@ -110,4 +109,51 @@ namespace armarx
     NJointControllerRegistration<NJointHolonomicPlatformVelocityControllerWithRamp>
         registrationNJointHolonomicPlatformVelocityControllerWithRamp(
             "NJointHolonomicPlatformVelocityControllerWithRamp");
+
+    Cartesian2DimVelocityRamp ::Cartesian2DimVelocityRamp(float maxPositionAcceleration,
+                                                          float maxOrientationAcceleration) :
+        maxPositionAcceleration(maxPositionAcceleration),
+        maxOrientationAcceleration(maxOrientationAcceleration)
+    {
+    }
+
+    void
+    Cartesian2DimVelocityRamp::init(const Eigen::Vector3f& state)
+    {
+        this->state = state;
+    }
+
+    Eigen::Vector3f
+    Cartesian2DimVelocityRamp::update(const Eigen::Vector3f& target, float dt)
+    {
+        if (dt <= 0)
+        {
+            return state;
+        }
+        Eigen::Vector3f delta = target - state;
+        float factor = 1;
+
+        Eigen::Vector2f posDelta = delta.block<2, 1>(0, 0);
+        float posFactor = posDelta.norm() / maxPositionAcceleration / dt;
+        factor = std::max(factor, posFactor);
+
+        float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
+        factor = std::max(factor, oriFactor);
+
+        state += delta / factor;
+        return state;
+    }
+
+    void
+    Cartesian2DimVelocityRamp::setMaxPositionAcceleration(float maxPositionAcceleration)
+    {
+        this->maxPositionAcceleration = maxPositionAcceleration;
+    }
+
+    void
+    Cartesian2DimVelocityRamp::setMaxOrientationAcceleration(float maxOrientationAcceleration)
+    {
+        this->maxOrientationAcceleration = maxOrientationAcceleration;
+    }
+
 } // namespace armarx