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/***************************************************************************
* Copyright (c) 2002 Jürgen Riegel <juergen.riegel@web.de> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "kdl_cp/chainfksolverpos_recursive.hpp"
#include "kdl_cp/chainiksolverpos_nr_jl.hpp"
#include "kdl_cp/chainiksolvervel_pinv.hpp"
#include <Base/FileInfo.h>
#include <Base/Reader.h>
#include <Base/Stream.h>
#include <Base/Tools.h>
#include <Base/Writer.h>
#include "Robot6Axis.h"
#include "RobotAlgos.h"
namespace Robot
{
// clang-format off
// some default roboter
AxisDefinition KukaIR500[6] = {
// a ,alpha ,d ,theta ,rotDir ,maxAngle ,minAngle ,AxisVelocity
{500 ,-90 ,1045 ,0 , -1 ,+185 ,-185 ,156 }, // Axis 1
{1300 ,0 ,0 ,0 , 1 ,+35 ,-155 ,156 }, // Axis 2
{55 ,+90 ,0 ,-90 , 1 ,+154 ,-130 ,156 }, // Axis 3
{0 ,-90 ,-1025,0 , 1 ,+350 ,-350 ,330 }, // Axis 4
{0 ,+90 ,0 ,0 , 1 ,+130 ,-130 ,330 }, // Axis 5
{0 ,+180 ,-300 ,0 , 1 ,+350 ,-350 ,615 } // Axis 6
};
// clang-format on
TYPESYSTEM_SOURCE(Robot::Robot6Axis, Base::Persistence)
Robot6Axis::Robot6Axis()
: Actual(KDL::JntArray(6))
, Min(KDL::JntArray(6))
, Max(KDL::JntArray(6))
{
// set to default kuka 500
setKinematic(KukaIR500);
}
void Robot6Axis::setKinematic(const AxisDefinition KinDef[6])
{
KDL::Chain temp;
for (int i = 0; i < 6; i++) {
temp.addSegment(
KDL::Segment(
KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH(
KinDef[i].a,
Base::toRadians<double>(KinDef[i].alpha),
KinDef[i].d,
Base::toRadians<double>(KinDef[i].theta)
)
)
);
RotDir[i] = KinDef[i].rotDir;
Max(i) = Base::toRadians<double>(KinDef[i].maxAngle);
Min(i) = Base::toRadians<double>(KinDef[i].minAngle);
Velocity[i] = KinDef[i].velocity;
}
// for now and testing
Kinematic = temp;
// get the actual TCP out of the axis
calcTcp();
}
double Robot6Axis::getMaxAngle(int Axis)
{
return Base::toDegrees<double>(Max(Axis));
}
double Robot6Axis::getMinAngle(int Axis)
{
return Base::toDegrees<double>(Min(Axis));
}
void split(std::string const& string, const char delimiter, std::vector<std::string>& destination)
{
std::string::size_type last_position(0);
std::string::size_type position(0);
for (std::string::const_iterator it(string.begin()); it != string.end(); ++it, ++position) {
if (*it == delimiter) {
destination.push_back(string.substr(last_position, position - last_position));
last_position = position + 1;
}
}
destination.push_back(string.substr(last_position, position - last_position));
}
void Robot6Axis::readKinematic(const char* FileName)
{
char buf[120];
Base::FileInfo fi(FileName);
Base::ifstream in(fi);
if (!in) {
return;
}
std::vector<std::string> destination;
AxisDefinition temp[6];
// over read the header
in.getline(buf, 119, '\n');
// read 6 Axis
for (auto& i : temp) {
in.getline(buf, 79, '\n');
destination.clear();
split(std::string(buf), ',', destination);
if (destination.size() < 8) {
continue;
}
// transfer the values in kinematic structure
i.a = atof(destination[0].c_str());
i.alpha = atof(destination[1].c_str());
i.d = atof(destination[2].c_str());
i.theta = atof(destination[3].c_str());
i.rotDir = atof(destination[4].c_str());
i.maxAngle = atof(destination[5].c_str());
i.minAngle = atof(destination[6].c_str());
i.velocity = atof(destination[7].c_str());
}
setKinematic(temp);
}
unsigned int Robot6Axis::getMemSize() const
{
return 0;
}
void Robot6Axis::Save(Base::Writer& writer) const
{
for (unsigned int i = 0; i < 6; i++) {
Base::Placement Tip = toPlacement(Kinematic.getSegment(i).getFrameToTip());
writer.Stream() << writer.ind() << "<Axis "
<< "Px=\"" << Tip.getPosition().x << "\" "
<< "Py=\"" << Tip.getPosition().y << "\" "
<< "Pz=\"" << Tip.getPosition().z << "\" "
<< "Q0=\"" << Tip.getRotation()[0] << "\" "
<< "Q1=\"" << Tip.getRotation()[1] << "\" "
<< "Q2=\"" << Tip.getRotation()[2] << "\" "
<< "Q3=\"" << Tip.getRotation()[3] << "\" "
<< "rotDir=\"" << RotDir[i] << "\" "
<< "maxAngle=\"" << Base::toDegrees<double>(Max(i)) << "\" "
<< "minAngle=\"" << Base::toDegrees<double>(Min(i)) << "\" "
<< "AxisVelocity=\"" << Velocity[i] << "\" "
<< "Pos=\"" << Actual(i) << "\"/>" << std::endl;
}
}
void Robot6Axis::Restore(Base::XMLReader& reader)
{
KDL::Chain Temp;
Base::Placement Tip;
for (unsigned int i = 0; i < 6; i++) {
// read my Element
reader.readElement("Axis");
// get the value of the placement
Tip = Base::Placement(
Base::Vector3d(
reader.getAttribute<double>("Px"),
reader.getAttribute<double>("Py"),
reader.getAttribute<double>("Pz")
),
Base::Rotation(
reader.getAttribute<double>("Q0"),
reader.getAttribute<double>("Q1"),
reader.getAttribute<double>("Q2"),
reader.getAttribute<double>("Q3")
)
);
Temp.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ), toFrame(Tip)));
if (reader.hasAttribute("rotDir")) {
Velocity[i] = reader.getAttribute<double>("rotDir");
}
else {
Velocity[i] = 1.0;
}
// read the axis constraints
Min(i) = Base::toRadians<double>(reader.getAttribute<double>("maxAngle"));
Max(i) = Base::toRadians<double>(reader.getAttribute<double>("minAngle"));
if (reader.hasAttribute("AxisVelocity")) {
Velocity[i] = reader.getAttribute<double>("AxisVelocity");
}
else {
Velocity[i] = 156.0;
}
Actual(i) = reader.getAttribute<double>("Pos");
}
Kinematic = Temp;
calcTcp();
}
bool Robot6Axis::setTo(const Base::Placement& To)
{
// Creation of the solvers:
KDL::ChainFkSolverPos_recursive fksolver1(Kinematic); // Forward position solver
KDL::ChainIkSolverVel_pinv iksolver1v(Kinematic); // Inverse velocity solver
KDL::ChainIkSolverPos_NR_JL iksolver1(
Kinematic,
Min,
Max,
fksolver1,
iksolver1v,
100,
1e-6
); // Maximum 100 iterations, stop at accuracy 1e-6
// Creation of jntarrays:
KDL::JntArray result(Kinematic.getNrOfJoints());
// Set destination frame
KDL::Frame F_dest = KDL::Frame(
KDL::Rotation::Quaternion(
To.getRotation()[0],
To.getRotation()[1],
To.getRotation()[2],
To.getRotation()[3]
),
KDL::Vector(To.getPosition()[0], To.getPosition()[1], To.getPosition()[2])
);
// solve
if (iksolver1.CartToJnt(Actual, F_dest, result) < 0) {
return false;
}
else {
Actual = result;
Tcp = F_dest;
return true;
}
}
Base::Placement Robot6Axis::getTcp()
{
double x, y, z, w;
Tcp.M.GetQuaternion(x, y, z, w);
return Base::Placement(Base::Vector3d(Tcp.p[0], Tcp.p[1], Tcp.p[2]), Base::Rotation(x, y, z, w));
}
bool Robot6Axis::calcTcp()
{
// Create solver based on kinematic chain
KDL::ChainFkSolverPos_recursive fksolver = KDL::ChainFkSolverPos_recursive(Kinematic);
// Create the frame that will contain the results
KDL::Frame cartpos;
// Calculate forward position kinematics
int kinematics_status;
kinematics_status = fksolver.JntToCart(Actual, cartpos);
if (kinematics_status >= 0) {
Tcp = cartpos;
return true;
}
else {
return false;
}
}
bool Robot6Axis::setAxis(int Axis, double Value)
{
Actual(Axis) = RotDir[Axis] * Base::toRadians<double>(Value);
return calcTcp();
}
double Robot6Axis::getAxis(int Axis)
{
return RotDir[Axis] * Base::toDegrees<double>(Actual(Axis));
}
} /* namespace Robot */
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