558 lines
14 KiB
C++
558 lines
14 KiB
C++
/*********************************************************************
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* Software Ligcense Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: John Hsu */
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#include <urdf_interface/joint.h>
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#include <ros/ros.h>
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#include <boost/lexical_cast.hpp>
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namespace urdf{
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bool JointDynamics::initXml(TiXmlElement* config)
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{
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this->clear();
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// Get joint damping
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const char* damping_str = config->Attribute("damping");
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if (damping_str == NULL){
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ROS_DEBUG("joint dynamics: no damping, defaults to 0");
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this->damping = 0;
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}
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else
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{
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try
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{
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this->damping = boost::lexical_cast<double>(damping_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("damping value (%s) is not a float",damping_str);
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return false;
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}
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}
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// Get joint friction
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const char* friction_str = config->Attribute("friction");
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if (friction_str == NULL){
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ROS_DEBUG("joint dynamics: no friction, defaults to 0");
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this->friction = 0;
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}
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else
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{
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try
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{
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this->friction = boost::lexical_cast<double>(friction_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("friction value (%s) is not a float",friction_str);
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return false;
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}
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}
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if (damping_str == NULL && friction_str == NULL)
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{
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ROS_ERROR("joint dynamics element specified with no damping and no friction");
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return false;
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}
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else{
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ROS_DEBUG("joint dynamics: damping %f and friction %f", damping, friction);
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return true;
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}
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}
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bool JointLimits::initXml(TiXmlElement* config)
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{
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this->clear();
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// Get lower joint limit
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const char* lower_str = config->Attribute("lower");
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if (lower_str == NULL){
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ROS_DEBUG("joint limit: no lower, defaults to 0");
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this->lower = 0;
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}
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else
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{
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try
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{
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this->lower = boost::lexical_cast<double>(lower_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("lower value (%s) is not a float",lower_str);
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return false;
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}
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}
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// Get upper joint limit
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const char* upper_str = config->Attribute("upper");
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if (upper_str == NULL){
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ROS_DEBUG("joint limit: no upper, , defaults to 0");
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this->upper = 0;
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}
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else
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{
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try
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{
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this->upper = boost::lexical_cast<double>(upper_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("upper value (%s) is not a float",upper_str);
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return false;
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}
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}
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// Get joint effort limit
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const char* effort_str = config->Attribute("effort");
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if (effort_str == NULL){
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ROS_ERROR("joint limit: no effort");
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return false;
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}
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else
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{
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try
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{
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this->effort = boost::lexical_cast<double>(effort_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("effort value (%s) is not a float",effort_str);
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return false;
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}
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}
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// Get joint velocity limit
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const char* velocity_str = config->Attribute("velocity");
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if (velocity_str == NULL){
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ROS_ERROR("joint limit: no velocity");
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return false;
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}
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else
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{
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try
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{
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this->velocity = boost::lexical_cast<double>(velocity_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("velocity value (%s) is not a float",velocity_str);
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return false;
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}
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}
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return true;
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}
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bool JointSafety::initXml(TiXmlElement* config)
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{
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this->clear();
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// Get soft_lower_limit joint limit
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const char* soft_lower_limit_str = config->Attribute("soft_lower_limit");
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if (soft_lower_limit_str == NULL)
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{
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ROS_DEBUG("joint safety: no soft_lower_limit, using default value");
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this->soft_lower_limit = 0;
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}
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else
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{
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try
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{
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this->soft_lower_limit = boost::lexical_cast<double>(soft_lower_limit_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("soft_lower_limit value (%s) is not a float",soft_lower_limit_str);
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return false;
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}
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}
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// Get soft_upper_limit joint limit
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const char* soft_upper_limit_str = config->Attribute("soft_upper_limit");
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if (soft_upper_limit_str == NULL)
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{
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ROS_DEBUG("joint safety: no soft_upper_limit, using default value");
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this->soft_upper_limit = 0;
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}
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else
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{
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try
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{
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this->soft_upper_limit = boost::lexical_cast<double>(soft_upper_limit_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("soft_upper_limit value (%s) is not a float",soft_upper_limit_str);
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return false;
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}
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}
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// Get k_position_ safety "position" gain - not exactly position gain
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const char* k_position_str = config->Attribute("k_position");
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if (k_position_str == NULL)
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{
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ROS_DEBUG("joint safety: no k_position, using default value");
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this->k_position = 0;
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}
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else
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{
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try
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{
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this->k_position = boost::lexical_cast<double>(k_position_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("k_position value (%s) is not a float",k_position_str);
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return false;
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}
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}
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// Get k_velocity_ safety velocity gain
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const char* k_velocity_str = config->Attribute("k_velocity");
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if (k_velocity_str == NULL)
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{
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ROS_ERROR("joint safety: no k_velocity");
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return false;
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}
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else
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{
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try
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{
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this->k_velocity = boost::lexical_cast<double>(k_velocity_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("k_velocity value (%s) is not a float",k_velocity_str);
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return false;
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}
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}
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return true;
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}
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bool JointCalibration::initXml(TiXmlElement* config)
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{
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this->clear();
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// Get rising edge position
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const char* rising_position_str = config->Attribute("rising");
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if (rising_position_str == NULL)
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{
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ROS_DEBUG("joint calibration: no rising, using default value");
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this->rising.reset();
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}
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else
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{
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try
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{
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this->rising.reset(new double(boost::lexical_cast<double>(rising_position_str)));
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("risingvalue (%s) is not a float",rising_position_str);
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return false;
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}
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}
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// Get falling edge position
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const char* falling_position_str = config->Attribute("falling");
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if (falling_position_str == NULL)
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{
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ROS_DEBUG("joint calibration: no falling, using default value");
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this->falling.reset();
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}
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else
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{
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try
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{
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this->falling.reset(new double(boost::lexical_cast<double>(falling_position_str)));
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("fallingvalue (%s) is not a float",falling_position_str);
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return false;
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}
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}
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return true;
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}
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bool JointMimic::initXml(TiXmlElement* config)
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{
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this->clear();
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// Get name of joint to mimic
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const char* joint_name_str = config->Attribute("joint");
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if (joint_name_str == NULL)
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{
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ROS_ERROR("joint mimic: no mimic joint specified");
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//return false;
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}
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else
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this->joint_name = joint_name_str;
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// Get mimic multiplier
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const char* multiplier_str = config->Attribute("multiplier");
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if (multiplier_str == NULL)
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{
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ROS_DEBUG("joint mimic: no multiplier, using default value of 1");
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this->multiplier = 1;
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}
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else
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{
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try
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{
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this->multiplier = boost::lexical_cast<double>(multiplier_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("multiplier value (%s) is not a float",multiplier_str);
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return false;
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}
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}
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// Get mimic offset
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const char* offset_str = config->Attribute("offset");
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if (offset_str == NULL)
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{
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ROS_DEBUG("joint mimic: no offset, using default value of 0");
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this->offset = 0;
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}
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else
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{
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try
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{
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this->offset = boost::lexical_cast<double>(offset_str);
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}
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catch (boost::bad_lexical_cast &e)
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{
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ROS_ERROR("offset value (%s) is not a float",offset_str);
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return false;
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}
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}
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return true;
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}
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bool Joint::initXml(TiXmlElement* config)
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{
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this->clear();
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// Get Joint Name
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const char *name = config->Attribute("name");
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if (!name)
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{
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ROS_ERROR("unnamed joint found");
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return false;
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}
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this->name = name;
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// Get transform from Parent Link to Joint Frame
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TiXmlElement *origin_xml = config->FirstChildElement("origin");
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if (!origin_xml)
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{
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ROS_DEBUG("Joint '%s' missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", this->name.c_str());
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this->parent_to_joint_origin_transform.clear();
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}
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else
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{
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if (!this->parent_to_joint_origin_transform.initXml(origin_xml))
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{
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ROS_ERROR("Malformed parent origin element for joint '%s'", this->name.c_str());
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this->parent_to_joint_origin_transform.clear();
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return false;
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}
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}
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// Get Parent Link
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TiXmlElement *parent_xml = config->FirstChildElement("parent");
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if (parent_xml)
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{
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const char *pname = parent_xml->Attribute("link");
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if (!pname)
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ROS_INFO("no parent link name specified for Joint link '%s'. this might be the root?", this->name.c_str());
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else
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{
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this->parent_link_name = std::string(pname);
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}
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}
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// Get Child Link
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TiXmlElement *child_xml = config->FirstChildElement("child");
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if (child_xml)
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{
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const char *pname = child_xml->Attribute("link");
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if (!pname)
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ROS_INFO("no child link name specified for Joint link '%s'.", this->name.c_str());
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else
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{
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this->child_link_name = std::string(pname);
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}
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}
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// Get Joint type
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const char* type_char = config->Attribute("type");
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if (!type_char)
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{
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ROS_ERROR("joint '%s' has no type, check to see if it's a reference.", this->name.c_str());
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return false;
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}
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std::string type_str = type_char;
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if (type_str == "planar")
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type = PLANAR;
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else if (type_str == "floating")
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type = FLOATING;
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else if (type_str == "revolute")
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type = REVOLUTE;
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else if (type_str == "continuous")
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type = CONTINUOUS;
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else if (type_str == "prismatic")
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type = PRISMATIC;
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else if (type_str == "fixed")
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type = FIXED;
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else
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{
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ROS_ERROR("Joint '%s' has no known type '%s'", this->name.c_str(), type_str.c_str());
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return false;
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}
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// Get Joint Axis
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if (this->type != FLOATING && this->type != FIXED)
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{
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// axis
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TiXmlElement *axis_xml = config->FirstChildElement("axis");
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if (!axis_xml){
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ROS_DEBUG("no axis elemement for Joint link '%s', defaulting to (1,0,0) axis", this->name.c_str());
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this->axis = Vector3(1.0, 0.0, 0.0);
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}
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else{
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if (!axis_xml->Attribute("xyz")){
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ROS_ERROR("no xyz attribute for axis element for Joint link '%s'", this->name.c_str());
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}
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else {
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if (!this->axis.init(axis_xml->Attribute("xyz")))
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{
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ROS_ERROR("Malformed axis element for joint '%s'", this->name.c_str());
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this->axis.clear();
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return false;
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}
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}
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}
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}
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// Get limit
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TiXmlElement *limit_xml = config->FirstChildElement("limit");
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if (limit_xml)
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{
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limits.reset(new JointLimits);
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if (!limits->initXml(limit_xml))
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{
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ROS_ERROR("Could not parse limit element for joint '%s'", this->name.c_str());
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limits.reset();
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return false;
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}
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}
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else if (this->type == REVOLUTE)
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{
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ROS_ERROR("Joint '%s' is of type REVOLUTE but it does not specify limits", this->name.c_str());
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return false;
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}
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else if (this->type == PRISMATIC)
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{
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ROS_INFO("Joint '%s' is of type PRISMATIC without limits", this->name.c_str());
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limits.reset();
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}
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// Get safety
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TiXmlElement *safety_xml = config->FirstChildElement("safety_controller");
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if (safety_xml)
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{
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safety.reset(new JointSafety);
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if (!safety->initXml(safety_xml))
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{
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ROS_ERROR("Could not parse safety element for joint '%s'", this->name.c_str());
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safety.reset();
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return false;
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}
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}
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// Get calibration
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TiXmlElement *calibration_xml = config->FirstChildElement("calibration");
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if (calibration_xml)
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{
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calibration.reset(new JointCalibration);
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if (!calibration->initXml(calibration_xml))
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{
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ROS_ERROR("Could not parse calibration element for joint '%s'", this->name.c_str());
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calibration.reset();
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return false;
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}
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}
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// Get Joint Mimic
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TiXmlElement *mimic_xml = config->FirstChildElement("mimic");
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if (mimic_xml)
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{
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mimic.reset(new JointMimic);
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if (!mimic->initXml(mimic_xml))
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{
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ROS_ERROR("Could not parse mimic element for joint '%s'", this->name.c_str());
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mimic.reset();
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return false;
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}
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}
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// Get Dynamics
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TiXmlElement *prop_xml = config->FirstChildElement("dynamics");
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if (prop_xml)
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{
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dynamics.reset(new JointDynamics);
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if (!dynamics->initXml(prop_xml))
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{
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ROS_ERROR("Could not parse joint_dynamics element for joint '%s'", this->name.c_str());
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dynamics.reset();
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return false;
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}
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}
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return true;
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}
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}
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