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main.cpp
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main.cpp
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#include "main.h"
#include "leg_controller.h"
#include "bicycle_controller.h"
#include "model.h"
#include "swing_leg_controller.h"
#include "stance_leg_controller.h"
#include <iostream>
#include <fstream>
#include <stdio.h>
#include <stdlib.h>
#include <termios.h>
// #include <term.h>
// #include <curses.h>
#include <unistd.h>
static struct termios initial_settings, new_settings;
static int peek_character = -1;
void init_keyboard();
void close_keyboard() ;
int kbhit() ;
int readch();
int counttt=20;
char ch[64] = {0};
int kbflag = 0;
int kbmode = 1;
void init_keyboard (){
tcgetattr (0,&initial_settings) ;
new_settings = initial_settings ;
new_settings.c_lflag &= ~ ICANON;
new_settings.c_lflag &= ~ ECHO;
new_settings.c_lflag &= ~ ISIG;
new_settings.c_cc [VMIN] = 1;
new_settings.c_cc [VTIME] = 0;
tcsetattr(0, TCSANOW, &new_settings) ;
}
void close_keyboard()
{
tcsetattr(0, TCSANOW, &initial_settings) ;
}
//下面就是检测是否有击键动作的kbhit函数:
int kbhit ()
{
char ch;
int nread;
if (peek_character != -1)
return 1;
new_settings.c_cc[VMIN]=0;
tcsetattr(0,TCSANOW, &new_settings) ;
nread = read(0,&ch,1) ;
new_settings.c_cc[VMIN] = 1;
tcsetattr(0, TCSANOW, &new_settings) ;
if (nread == 1) {
peek_character = ch;
return 1;
}
return 0;
}
//按键对应的字符由下-一个函数readch读取，它会将变量peek_ character重置为-1以进入下一次循环。
int readch()
{
char ch;
if(peek_character != -1) {
ch = peek_character;
peek_character = -1;
return ch;
}
read(0,&ch,1) ;
return ch;
}
int main(int argc, char* argv[]) {
init_keyboard() ;
auto binaryPath = raisim::Path::setFromArgv(argv[0]);
/// create raisim world
raisim::World::setActivationKey("/home/hxy/.raisim/activate.raisim");
raisim::World world;
auto smart_bycicle = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\licycle_urdfnew\\urdf\\licycle_urdf.urdf");
auto ground = world.addGround(0,"steel");
// raisim::TerrainProperties terrainProperties;
// terrainProperties.frequency = 0.4;
// terrainProperties.zScale = 0.5;
// terrainProperties.xSize = 40.0;
// terrainProperties.ySize = 20.0;
// terrainProperties.xSamples = 50;
// terrainProperties.ySamples = 50;
// terrainProperties.fractalOctaves = 3;
// terrainProperties.fractalLacunarity = 2.0;
// terrainProperties.fractalGain = 0.25;
// auto hm = world.addHeightMap(0.0, 0.0, terrainProperties,"steel");
// std::vector<double> height = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0,0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0,
// 0.5, 0.5, 0.5, 0.5, 0.5, 0, 0, 0, 0, 0,0, 0, 0, 0, 0,0, 0, 0, 0, 0};
// auto heightMap = world.addHeightMap(20, 20, 5, 5, 0, 0, height);
// auto hm = world.addHeightMap("/home/hxy/raisim_workspace/legs/src/rugged_terrain.txt", 4, 0);
// auto hm = world.addHeightMap("/home/hxy/raisim_workspace/legs/src/rugged_terrain.txt", 6, 1);
// auto hm = world.addHeightMap("/home/hxy/raisim_workspace/legs/src/rugged_terrain.txt", 4, 0);
// auto hm = world.addHeightMap("/home/hxy/raisim_workspace/legs/src/door.txt", 4, 4);
// auto hm = world.addHeightMap("/home/hxy/raisim_workspace/legs/src/afile.txt", 9, 0,"steel");
// auto hm = world.addHeightMap("/home/hxy/raisim_workspace/legs/src/bfile10.txt", 2.5, 2,"steel");
world.setMaterialPairProp("steel", "rubber", 0.45, 0.15, 0.001);
world.setTimeStep(0.001);
/// smart_bycicle init
robot robot(smart_bycicle);
//生成数据编号
time_t tt = time(NULL);
strftime(ch, sizeof(ch) - 1, "%H%M", localtime(&tt));
char result[100] = {0};
sprintf(result, "/home/hxy/sim_data/dataFile%s.txt", ch);
std::ofstream dataFile;
dataFile.open(result, std::ofstream::app);
///controller init
gait_generator gait_gen(&robot);
swing_leg_controller swc(&robot,&gait_gen,0.8);
stance_leg_controller stc(&robot,&gait_gen,0.8);
bicycle_controller b_control(&robot,ch);
leg_controller l_control(&robot,&gait_gen,&swc,&stc);
/// launch raisim server for visualization. Can be visualized using raisimUnity
raisim::RaisimServer server(&world);
server.launchServer();
Eigen::VectorXd bicycle_tau;
Eigen::VectorXd leg_tau;
float global_timer = 0;
float desire_v = 0;
while(1){
raisim::MSLEEP(1);
robot.update_state();
if(global_timer<1){
//initial
if(counttt==20){
bicycle_tau = b_control.get_action(1,0);
counttt=1;
}
counttt ++;
leg_tau = l_control.get_action(0);
}
// //back
// float desire_v = -0.8;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// if(counttt==20){
// bicycle_tau = b_control.get_action(1,desire_v);
// counttt=1;
// }
// counttt ++;
// auto leg_tau = l_control.get_action(3);
// //ready
// float desire_v = 0;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// if(counttt==20){
// bicycle_tau = b_control.get_action(1,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(3);
// //speed up
// float desire_v = 0.5;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(0,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(3);
// //without eic
// float desire_v = 0.5;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(4,desire_v);
// counttt=1;
// }
// stc.h_varphi = b_control.get_h_varphi();
// stc.desired_roll = b_control.get_varphie();
// counttt ++;
// leg_tau = l_control.get_action(3);
// //rugged road
// float desire_v = 1.2;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(5,desire_v);
// counttt=1;
// }
// stc.h_varphi = b_control.get_h_varphi();
// // stc.desired_roll = b_control.get_varphie();
// counttt ++;
// leg_tau = l_control.get_action(4);
// else if(global_timer<2){
// // //back
// // float desire_v = -0.8;
// // swc.desired_xspeed = desire_v;
// // stc.desired_xspeed = desire_v;
// // if(counttt==20){
// // bicycle_tau = b_control.get_action(1,desire_v);
// // counttt=1;
// // }
// // counttt ++;
// // auto leg_tau = l_control.get_action(3);
// //ready
// float desire_v = 0;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// if(counttt==20){
// bicycle_tau = b_control.get_action(1,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(3);
// }
// else if(global_timer<15){
// //speed up
// float desire_v = 0.5;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(0,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(3);
// }
// door
// else if(global_timer<180){
// float desire_v = 0.5;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(4,desire_v);
// counttt=1;
// }
// stc.h_varphi = b_control.get_h_varphi();
// stc.desired_roll = b_control.get_varphie();
// counttt ++;
// leg_tau = l_control.get_action(3);
// }
// else if(global_timer<180){
// float desire_v = 0.5;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(3,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(5);
// }
// rugged terrain
// else if(global_timer<180){
// if(b_control.get_xdistance()<3.5){
// float desire_v = 1.2;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(2,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(5);
// }
// else if(b_control.get_xdistance()<14.8){
// float desire_v = 1.2;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(5,desire_v);
// counttt=1;
// }
// stc.h_varphi = b_control.get_h_varphi();
// // stc.desired_roll = b_control.get_varphie();
// counttt ++;
// leg_tau = l_control.get_action(4);
// }
// // else if(b_control.get_xdistance()<14.8){
// // float desire_v = 0.9;
// // swc.desired_xspeed = desire_v;
// // stc.desired_xspeed = desire_v;
// // // stc.desired_roll = -5*PI/180;
// // if(counttt==20){
// // bicycle_tau = b_control.get_action(2,desire_v);
// // counttt=1;
// // }
// // stc.bike_tau = b_control.get_tau();
// // counttt ++;
// // leg_tau = l_control.get_action(7);
// // }
// else{
// float desire_v =1.2;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(2,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(5);
// }
// }
// else if(global_timer<18){
// float desire_v = 1.2;
// swc.desired_xspeed = desire_v;
// stc.desired_xspeed = desire_v;
// // stc.desired_roll = -5*PI/180;
// if(counttt==20){
// bicycle_tau = b_control.get_action(2,desire_v);
// counttt=1;
// }
// counttt ++;
// leg_tau = l_control.get_action(5);
// }
else{
if(kbhit()){
int k = readch();
// std::cout<<k<<"hhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhh"<<std::endl;
// direction
if(k == 119) kbflag = 0;//w forward
if(k == 100) kbflag = 1;//d right
if(k == 97) kbflag = 2;//a left
// mode
if(k == 103) kbmode = 0;//g (without leg)
if(k == 115) kbmode = 1;//s stop
if(k == 98) kbmode = 2;//b back 2
if(k == 114) kbmode = 3;//r ready
if(k == 108) kbmode = 4;//l slow(without eic) 2
if(k == 111) kbmode = 5;//o rugged road 2
if(k == 107) kbmode = 6;//k slow(without eic) decrease the pd
}
// std::cout<<kbmode<<std::endl;
close_keyboard();
switch(kbmode){
case 0:
desire_v = 1.2;
swc.desired_xspeed = desire_v;
stc.desired_xspeed = desire_v;
// stc.desired_roll = -5*PI/180;
if(counttt==20){
bicycle_tau = b_control.get_action1(2,desire_v,kbflag);
counttt=1;
}
counttt ++;
leg_tau = l_control.get_action(5);
break;
case 1:
if(counttt==20){
bicycle_tau = b_control.get_action(1,0);
counttt=1;
}
counttt ++;
leg_tau = l_control.get_action(0);
break;
case 2:
desire_v = -0.8;
swc.desired_xspeed = desire_v;
stc.desired_xspeed = desire_v;
if(counttt==20){
bicycle_tau = b_control.get_action1(1,desire_v,kbflag);
counttt=1;
}
counttt ++;
leg_tau = l_control.get_action(3);
break;
case 3:
desire_v = 0;
swc.desired_xspeed = desire_v;
stc.desired_xspeed = desire_v;
if(counttt==20){
bicycle_tau = b_control.get_action(1,desire_v);
counttt=1;
}
counttt ++;
leg_tau = l_control.get_action(3);
break;
case 4:
desire_v = 0.5;
swc.desired_xspeed = desire_v;
stc.desired_xspeed = desire_v;
// stc.desired_roll = -5*PI/180;
if(counttt==20){
bicycle_tau = b_control.get_action1(4,desire_v,kbflag);
counttt=1;
}
// stc.h_varphi = b_control.get_h_varphi();
// stc.desired_roll = b_control.get_varphie();
counttt ++;
leg_tau = l_control.get_action(3);
break;
case 5:
desire_v = 1.2;
swc.desired_xspeed = desire_v;
stc.desired_xspeed = desire_v;
// stc.desired_roll = -5*PI/180;
if(counttt==20){
bicycle_tau = b_control.get_action1(2,desire_v,kbflag);
counttt=1;
}
// stc.h_varphi = b_control.get_h_varphi();
// stc.desired_roll = b_control.get_varphie();
counttt ++;
leg_tau = l_control.get_action(4);
break;
case 6:
desire_v = 0.5;
swc.desired_xspeed = desire_v;
stc.desired_xspeed = desire_v;
// stc.desired_roll = -5*PI/180;
if(counttt==20){
bicycle_tau = b_control.get_action(4,desire_v);
counttt=1;
}
// stc.h_varphi = b_control.get_h_varphi();
// stc.desired_roll = b_control.get_varphie();
counttt ++;
leg_tau = l_control.get_action(8);
break;
}
}
int stance = gait_gen.leg_state[0];
Position l_leg_p = swc.postarget[0];
Position r_leg_p = swc.postarget[1];
// state
Angle l_angle;
Angle r_angle;
Position l_position;
Position r_position;
auto pos = robot.get_leg_pos();
for(int i(0);i<3;i++){
l_angle.q[i] = pos[i];
r_angle.q[i] = pos[i+3];
}
Kinematics(&l_angle,&l_position,0);
Kinematics(&r_angle,&r_position,1);
/// record the data
// 朝TXT文档中写入数据
dataFile << leg_tau[0] << ", " << leg_tau[1] << ", " << leg_tau[2] << ", "
<< leg_tau[3] << ", " << leg_tau[4] << ", " << leg_tau[5] << ", "
<< l_leg_p.x << ", " << l_leg_p.y << ", " << l_leg_p.z << ", "
<< r_leg_p.x << ", " << r_leg_p.y << ", " << r_leg_p.z << ", " << stance<< ", "
<< l_position.x << ", " << l_position.y << ", " << l_position.z << ", "
<< r_position.x << ", " << r_position.y << ", " << r_position.z << ", "
<< l_angle.q[0] << ", " << l_angle.q[1] << ", " << l_angle.q[2] << ", "
<< r_angle.q[0] << ", " << r_angle.q[1] << ", " << r_angle.q[2] << ", " << robot.get_dvarphi()
<< std::endl;
robot.step(bicycle_tau,leg_tau);
global_timer += 0.001;
// ///获取数据
// mini_cheetah->getState(co,vel);
// raisim::Vec<3> footVelocity, footPosition;
// mini_cheetah->getFrameVelocity("toe_fr_joint",footVelocity);
// mini_cheetah->getFramePosition("toe_fr_joint",footPosition);
// mini_cheetah->getBasePosition(bodyPosition);
// mini_cheetah->getVelocity(0,bodyVelocity);
// R = mini_cheetah->getBaseOrientation().e();
// raisim::SparseJacobian Jac;
// mini_cheetah->getSparseJacobian(mini_cheetah->getBodyIdx("shank_fr"),footPosition,Jac);
// auto tau1 = mini_cheetah->getGeneralizedForce();
// ///计算数据
// //计算雅可比
// auto Jaco = Jac.e().block(0,6,3,3);
// //计算旋转矩阵的逆
// auto R_inv = R.transpose();
// //计算接触力
// auto footIndex = mini_cheetah->getBodyIdx("shank_fr");
// for(auto& contact: mini_cheetah->getContacts()) {
// if (contact.skip()) continue; /// if the contact is internal, one contact point is set to 'skip'
// if ( footIndex == contact.getlocalBodyIndex() ) {
// force = contact.getContactFrame().e().transpose() * contact.getImpulse()->e()/dt;
// }
// }
// //计算关节力矩
// Eigen::VectorXd tau3d(3);
// int cou = 6;
// for(int j=0;j<3;j++){
// tau3d[j] = tau1[cou];
// cou ++;
// }
// //计算关节力矩2
// auto tau2 = Jaco.transpose()*R_inv*force;
// ///打印信息
// std::cout<<"begin1"<<std::endl;
// std::cout<<tau2<<std::endl;
// std::cout<<"begin2"<<std::endl;
// std::cout<<tau3d<<std::endl;
// std::cout<<"begin3"<<std::endl;
// std::cout<<tau1.e().tail(12).transpose()<<std::endl;
// std::cout<<"begin4"<<std::endl;
// std::cout<<co.tail(12).transpose()<<std::endl;
// std::cout<<" "<<std::endl;
server.integrateWorldThreadSafe();
}
dataFile.close();
server.killServer();
}