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small update

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HRS_D
2019-02-05 13:44:24 +01:00
parent 193dcff7a8
commit 3b16ae6fcd
2 changed files with 26 additions and 8 deletions
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17
script/cartesian_controller.py
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@@ -73,13 +73,30 @@ def pseudo_inverse(jacobian):
def reference_generator(p_d) def reference_generator(p_d)
# calculate jacobian # calculate jacobian
jac_mat = jacobian()
# use jacobian to compute desired joint speed # use jacobian to compute desired joint speed
derivative_speed = (p_d - end_position) / 5
inv_jac = pseudo_inverse(jac_mat)
angular_velocity = derivative_speed * inv_jac
# integrate over desired speed to get desired joint position # integrate over desired speed to get desired joint position
names = "LArm"
useSensors = False
commandAngles = motionProxy.getAngles(names, useSensors)
names = "RArm"
useSensors = False
commandAngles = motionProxy.getAngles(names, useSensors)
goal_angle = mom_angle + (angular_velocity * 5)
# return desired joint position and speed # return desired joint position and speed
return return

15
src/NAO_Jacobian.cpp
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@@ -1,4 +1,5 @@
#include <Vector3.h> #include <Vector3.h>
using namespace std; using namespace std;
// Calculate the Jacobian Matrix for the NAO // Calculate the Jacobian Matrix for the NAO
// inputs: original angles tau1 - tau4 and new angles tau1' - tau4' // inputs: original angles tau1 - tau4 and new angles tau1' - tau4'
@@ -24,14 +25,14 @@ e_diff = diff(e_end, e);
a_diff = diff(a_end, a); a_diff = diff(a_end, a);
vector<float> postion_vec; vector<float> postion_vec;
postion_vec.push_back(e_diff.x); postion_vec.vector::push_back(e_diff.x);
postion_vec.push_back(e_diff.y); postion_vec.vector::push_back(e_diff.y);
postion_vec.push_back(e_diff.z); postion_vec.vector::push_back(e_diff.z);
vector<float> angles_vec; vector<float> angles_vec;
angles_vec.push_back(a_diff.tau_1); angles_vec.vector::push_back(a_diff.tau_1);
angles_vec.push_back(a_diff.tau_2); angles_vec.vector::push_back(a_diff.tau_2);
angles_vec.push_back(a_diff.tau_3); angles_vec.vector::push_back(a_diff.tau_3);
angles_vec.push_back(a_diff.tau_4); angles_vec.vector::push_back(a_diff.tau_4);s
vector<vector<float>> Jacobian; vector<vector<float>> Jacobian;