Commit ⋅ shadow-robot/sr-ros-interface-ethercat

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sr_robot_lib/include/sr_robot_lib/sr_robot_lib.hpp changed.

18.85% 14.29% ø

sr_robot_lib/src/sr_robot_lib.cpp changed.

46.84% 100.00% -25.74%

sr_robot_lib/src/pwl_interp_2d_scattered.cpp changed.

15.16% 0.00% +0.06%

sr_robot_lib/src/sr_motor_robot_lib.cpp changed.

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...b/include/sr_robot_lib/pwl_interp_2d_scattered.hpp has changed.

sr_robot_lib/src/test_interpolation.cpp has changed.

@@ -94,6 +94,10 @@


namespace shadow_robot
{
#define NB_CALIBRATION_POINTS  (25)
#define NB_SURROUNDING_POINTS  (10)
#define NB_TOTAL_POINTS (NB_CALIBRATION_POINTS + NB_SURROUNDING_POINTS)

template<class StatusType, class CommandType>
class SrRobotLib
{

@@ -425,7 +429,7 @@

    -0.34906,
    -0.6981
  };
  double *zi;
  double zi[1];
};  // end class
}  // namespace shadow_robot


@@ -227,23 +227,26 @@

            // initialize the calibration map
            calibration_map(read_joint_calibration())
  {
    // Generate additional points around the actual calibration points
    add_surrounding_points(NB_CALIBRATION_POINTS, node_xy, zd_thj1, NB_SURROUNDING_POINTS);
    add_surrounding_points(NB_CALIBRATION_POINTS, node_xy, zd_thj2, NB_SURROUNDING_POINTS);
    //
    //  Set up the Delaunay triangulation.
    //
      r8tris2 ( node_num, node_xy, element_num, triangle, element_neighbor );
    r8tris2 ( node_num, node_xy, element_num, triangle, element_neighbor );

      for ( int j = 0; j < element_num; j++ )
    for ( int j = 0; j < element_num; j++ )
    {
      for ( int i = 0; i < 3; i++ )
      {
        for ( int i = 0; i < 3; i++ )
        if ( 0 < element_neighbor[i+j*3] )
        {
          if ( 0 < element_neighbor[i+j*3] )
          {
            element_neighbor[i+j*3] = element_neighbor[i+j*3] - 1;
          }
          element_neighbor[i+j*3] = element_neighbor[i+j*3] - 1;
        }
      }
      filter_edge_triangles_by_min_angle(node_num, node_xy, element_num, triangle, element_neighbor, 0.17);
      triangulation_order3_print ( node_num, element_num, node_xy, triangle, element_neighbor );
    }
    // filter_edge_triangles_by_min_angle(node_num, node_xy, element_num, triangle, element_neighbor, 0.17);
    // triangulation_order3_print ( node_num, element_num, node_xy, triangle, element_neighbor );
  }

  template<class StatusType, class CommandType>

@@ -879,8 +879,8 @@

879	879		}
880	880		//****************************************************************************80
881	881
882		-	double *pwl_interp_2d_scattered_value ( int nd, double xyd[], double zd[],
883		-	int t_num, int t[], int t_neighbor[], int ni, double xyi[] )
	882	+	void pwl_interp_2d_scattered_value ( int nd, double xyd[], double zd[],
	883	+	int t_num, int t[], int t_neighbor[], int ni, double xyi[], double zi[] )
884	884
885	885		//****************************************************************************80
886	886		//

@@ -928,9 +928,6 @@

  int i;
  int j;
  int step_num;
  double *zi;

  zi = new double[ni];

  for ( i = 0; i < ni; i++ )
  {

@@ -946,7 +943,7 @@

946	943		+ beta * zd[t[1+j*3]]
947	944		+ gamma * zd[t[2+j*3]];
948	945		}
949		-	return zi;
	946	+	return;
950	947		}
951	948		//****************************************************************************80
952	949

@@ -2352,4 +2349,71 @@

2352	2349		done_filtering = true;
2353	2350		}
2354	2351		}
2355		-	}

@@ -973,22 +973,18 @@

          int raw_pos_2nd_joint = status_data->sensors[this->joints_vector[this->find_joint_by_name("THJ2")].joint_to_sensor.joint_to_sensor_vector[0].sensor_id];
          this->xyi[0] = static_cast<double> (raw_pos);
          this->xyi[1] = static_cast<double> (raw_pos_2nd_joint);
          this->zi = pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj1, this->element_num,
                                                    this->triangle, this->element_neighbor, this->ni, this->xyi);
          pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj1, this->element_num,
                                         this->triangle, this->element_neighbor, this->ni, this->xyi, this->zi);
          tmp_cal_value = this->zi[0];
          // ROS_INFO("THJ1: %f THJ2: %f Interpolated THJ1: %f", this->xyi[0], this->xyi[1], tmp_cal_value);
          delete [] this->zi;
        }
        else if (joint_tmp->joint_name.find("THJ2")!= std::string::npos)
        {
          int raw_pos_2nd_joint = status_data->sensors[this->joints_vector[this->find_joint_by_name("THJ1")].joint_to_sensor.joint_to_sensor_vector[0].sensor_id];
          this->xyi[0] = static_cast<double> (raw_pos_2nd_joint);
          this->xyi[1] = static_cast<double> (raw_pos);
          this->zi = pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj2, this->element_num,
                                                    this->triangle, this->element_neighbor, this->ni, this->xyi);
          pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj2, this->element_num,
                                         this->triangle, this->element_neighbor, this->ni, this->xyi, this->zi);
          tmp_cal_value = this->zi[0];
          // ROS_INFO("THJ1: %f THJ2: %f Interpolated THJ2: %f", this->xyi[0], this->xyi[1], tmp_cal_value);
          delete [] this->zi;
        }
        else
        {

Files		•	•	•	Coverage
sr_robot_lib	10,485	667	336	9,482	6.36%
Project Totals (33 files)	10,485	667	336	9,482	6.36%

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425	429		-0.34906,
426	430		-0.6981
427	431		};
428		-	double *zi;
	432	+	double zi[1];
429	433		}; // end class
430	434		} // namespace shadow_robot
431	435

227	227		// initialize the calibration map
228	228		calibration_map(read_joint_calibration())
229	229		{
	230	+	// Generate additional points around the actual calibration points
	231	+	add_surrounding_points(NB_CALIBRATION_POINTS, node_xy, zd_thj1, NB_SURROUNDING_POINTS);
	232	+	add_surrounding_points(NB_CALIBRATION_POINTS, node_xy, zd_thj2, NB_SURROUNDING_POINTS);
230	233		//
231	234		// Set up the Delaunay triangulation.
232	235		//
233		-	r8tris2 ( node_num, node_xy, element_num, triangle, element_neighbor );
	236	+	r8tris2 ( node_num, node_xy, element_num, triangle, element_neighbor );
234	237
235		-	for ( int j = 0; j < element_num; j++ )
	238	+	for ( int j = 0; j < element_num; j++ )
	239	+	{
	240	+	for ( int i = 0; i < 3; i++ )
236	241		{
237		-	for ( int i = 0; i < 3; i++ )
	242	+	if ( 0 < element_neighbor[i+j*3] )
238	243		{
239		-	if ( 0 < element_neighbor[i+j*3] )
240		-	{
241		-	element_neighbor[i+j3] = element_neighbor[i+j3] - 1;
242		-	}
	244	+	element_neighbor[i+j3] = element_neighbor[i+j3] - 1;
243	245		}
244	246		}
245		-	filter_edge_triangles_by_min_angle(node_num, node_xy, element_num, triangle, element_neighbor, 0.17);
246		-	triangulation_order3_print ( node_num, element_num, node_xy, triangle, element_neighbor );
	247	+	}
	248	+	// filter_edge_triangles_by_min_angle(node_num, node_xy, element_num, triangle, element_neighbor, 0.17);
	249	+	// triangulation_order3_print ( node_num, element_num, node_xy, triangle, element_neighbor );
247	250		}
248	251
249	252		template<class StatusType, class CommandType>

928	928		int i;
929	929		int j;
930	930		int step_num;
931		-	double *zi;
932		-
933		-	zi = new double[ni];
934	931
935	932		for ( i = 0; i < ni; i++ )
936	933		{

973	973		int raw_pos_2nd_joint = status_data->sensors[this->joints_vector[this->find_joint_by_name("THJ2")].joint_to_sensor.joint_to_sensor_vector[0].sensor_id];
974	974		this->xyi[0] = static_cast<double> (raw_pos);
975	975		this->xyi[1] = static_cast<double> (raw_pos_2nd_joint);
976		-	this->zi = pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj1, this->element_num,
977		-	this->triangle, this->element_neighbor, this->ni, this->xyi);
	976	+	pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj1, this->element_num,
	977	+	this->triangle, this->element_neighbor, this->ni, this->xyi, this->zi);
978	978		tmp_cal_value = this->zi[0];
979		-	// ROS_INFO("THJ1: %f THJ2: %f Interpolated THJ1: %f", this->xyi[0], this->xyi[1], tmp_cal_value);
980		-	delete [] this->zi;
981	979		}
982	980		else if (joint_tmp->joint_name.find("THJ2")!= std::string::npos)
983	981		{
984	982		int raw_pos_2nd_joint = status_data->sensors[this->joints_vector[this->find_joint_by_name("THJ1")].joint_to_sensor.joint_to_sensor_vector[0].sensor_id];
985	983		this->xyi[0] = static_cast<double> (raw_pos_2nd_joint);
986	984		this->xyi[1] = static_cast<double> (raw_pos);
987		-	this->zi = pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj2, this->element_num,
988		-	this->triangle, this->element_neighbor, this->ni, this->xyi);
	985	+	pwl_interp_2d_scattered_value (this->node_num, this->node_xy, this->zd_thj2, this->element_num,
	986	+	this->triangle, this->element_neighbor, this->ni, this->xyi, this->zi);
989	987		tmp_cal_value = this->zi[0];
990		-	// ROS_INFO("THJ1: %f THJ2: %f Interpolated THJ2: %f", this->xyi[0], this->xyi[1], tmp_cal_value);
991		-	delete [] this->zi;
992	988		}
993	989		else
994	990		{

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94	94
95	95		namespace shadow_robot
96	96		{
	97	+	#define NB_CALIBRATION_POINTS (25)
	98	+	#define NB_SURROUNDING_POINTS (10)
	99	+	#define NB_TOTAL_POINTS (NB_CALIBRATION_POINTS + NB_SURROUNDING_POINTS)
	100	+
97	101		template<class StatusType, class CommandType>
98	102		class SrRobotLib
99	103		{

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