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tiny_urdf_to_multi_body.h
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tiny_urdf_to_multi_body.h
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/*
* Copyright 2020 Google LLC
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef TINY_URDF_TO_MULTI_BODY_H
#define TINY_URDF_TO_MULTI_BODY_H
#include <stdio.h>
#include "tiny_urdf_structures.h"
#include "tiny_world.h"
template <typename TinyScalar, typename TinyConstants>
struct TinyUrdfToMultiBody {
typedef ::TinyUrdfStructures<TinyScalar, TinyConstants> TinyUrdfStructures;
static int convert_to_multi_body(
const TinyUrdfStructures& urdf_structures,
TinyWorld<TinyScalar, TinyConstants>& world,
TinyMultiBody<TinyScalar, TinyConstants>& mb) {
typedef ::TinyVector3<TinyScalar, TinyConstants> TinyVector3;
int return_code = kCONVERSION_OK;
// start with base properties
// mb->m_baseInertia
const TinyUrdfLink<TinyScalar, TinyConstants>& base_link =
urdf_structures.m_base_links[0];
{
TinyScalar mass = base_link.urdf_inertial.mass;
TinyVector3 local_inertia = base_link.urdf_inertial.inertia_xxyyzz;
TinyVector3 com(base_link.urdf_inertial.origin_xyz[0],
base_link.urdf_inertial.origin_xyz[1],
base_link.urdf_inertial.origin_xyz[2]);
TinyMatrix3x3<TinyScalar, TinyConstants> inertia_diag;
inertia_diag.set_identity();
inertia_diag(0, 0) = local_inertia[0];
inertia_diag(1, 1) = local_inertia[1];
inertia_diag(2, 2) = local_inertia[2];
TinyMatrix3x3<TinyScalar, TinyConstants> rot;
rot.setEulerZYX(base_link.urdf_inertial.origin_rpy[0],
base_link.urdf_inertial.origin_rpy[1],
base_link.urdf_inertial.origin_rpy[2]);
TinyMatrix3x3<TinyScalar, TinyConstants> inertia_C = rot * inertia_diag;
mb.m_baseInertia = TinySymmetricSpatialDyad<
TinyScalar, TinyConstants>::computeInertiaDyad(mass, com, inertia_C, base_link.urdf_inertial.armature);
}
for (int i = 0; i < base_link.urdf_visual_shapes.size(); i++) {
const TinyUrdfVisual<TinyScalar, TinyConstants>& visual_shape =
base_link.urdf_visual_shapes[i];
mb.m_visual_uids1.push_back(visual_shape.sync_visual_body_uid1);
printf("push_back1 uid=%d\n",visual_shape.sync_visual_body_uid1);
mb.m_visual_uids2.push_back(visual_shape.sync_visual_body_uid2);
printf("m_visual_uids2 uid=%d\n",visual_shape.sync_visual_body_uid2);
TinySpatialTransform<TinyScalar, TinyConstants> visual_offset;
visual_offset.m_translation.setValue(visual_shape.origin_xyz[0],
visual_shape.origin_xyz[1],
visual_shape.origin_xyz[2]);
TinyVector3 rpy;
rpy.setValue(visual_shape.origin_rpy[0], visual_shape.origin_rpy[1],
visual_shape.origin_rpy[2]);
visual_offset.m_rotation.setEulerZYX(rpy[0], rpy[1], rpy[2]);
mb.m_X_visuals.push_back(visual_offset);
}
TinyLink<TinyScalar, TinyConstants> dummy;
convert_collisions(world, base_link, dummy);
for (int i = 0; i < dummy.m_collision_geometries.size(); i++) {
mb.m_collision_geometries.push_back(dummy.m_collision_geometries[i]);
std::cout << "mb.m_collision_geometries " << dummy.m_collision_geometries[i]->get_type() << std::endl;
mb.m_X_collisions.push_back(dummy.m_X_collisions[i]);
}
// then convert each link
int num_links = urdf_structures.m_joints.size();
#if DEBUG
printf("-----------------------\n");
printf("num_links=%d\n", num_links);
printf("-----------------------\n");
#endif
printf("tiny urdf to multi body\n");
for (int i = 0; i < num_links; i++) {
TinyLink<TinyScalar, TinyConstants> l;
bool joint_conversion_ok = false;
// convert from enum JointType (SharedMemoryPublic.h) to TinyJointType
// (TinyMultiBody.h)
switch (urdf_structures.m_joints[i].joint_type) {
case JOINT_FIXED: {
printf("FixedType!\n");
l.set_joint_type(JOINT_FIXED);
joint_conversion_ok = true;
break;
}
case JOINT_REVOLUTE_AXIS: {
// int non_zero_joint_axis_index = -1;
// for (int j = 0; j < 3; j++) {
// // approximate check needed?
// if (TinyConstants::getBool(
// urdf_structures.m_joints[i].joint_axis_xyz[j] ==
// TinyConstants::one())) {
// if (non_zero_joint_axis_index >= 0) {
// break;
// }
// non_zero_joint_axis_index = j;
// }
// }
// if (non_zero_joint_axis_index >= 0) {
// l.set_joint_type(
// TinyJointType(JOINT_REVOLUTE_X + non_zero_joint_axis_index));
// } else {
l.set_joint_type(JOINT_REVOLUTE_AXIS,
urdf_structures.m_joints[i].joint_axis_xyz);
// }
joint_conversion_ok = true;
break;
}
case JOINT_PRISMATIC_AXIS: {
// int non_zero_joint_axis_index = -1;
// for (int j = 0; j < 3; j++) {
// // approximate check needed?
// if (TinyConstants::getBool(urdf_structures.m_joints[i].joint_axis_xyz[j] ==
// TinyConstants::one())) {
// if (non_zero_joint_axis_index >= 0) {
// break;
// }
// non_zero_joint_axis_index = j;
// }
// }
// if (non_zero_joint_axis_index >= 0) {
// l.set_joint_type(
// TinyJointType(JOINT_PRISMATIC_X + non_zero_joint_axis_index));
// } else {
l.set_joint_type(JOINT_PRISMATIC_AXIS,
urdf_structures.m_joints[i].joint_axis_xyz);
// }
joint_conversion_ok = true;
break;
}
default: {
return_code = kCONVERSION_JOINT_FAILED;
}
};
if (return_code == kCONVERSION_OK) {
l.m_X_T.m_rotation.set_identity();
const TinyUrdfJoint<TinyScalar, TinyConstants>& j =
urdf_structures.m_joints[i];
const TinyUrdfLink<TinyScalar, TinyConstants>& link =
urdf_structures.m_links[i];
l.m_X_T.m_translation.setValue(j.joint_origin_xyz[0],
j.joint_origin_xyz[1],
j.joint_origin_xyz[2]);
l.m_X_T.m_rotation.setEulerZYX(j.joint_origin_rpy[0],
j.joint_origin_rpy[1],
j.joint_origin_rpy[2]);
TinyScalar mass = link.urdf_inertial.mass;
TinyVector3 local_inertia = link.urdf_inertial.inertia_xxyyzz;
TinyVector3 com(link.urdf_inertial.origin_xyz[0],
link.urdf_inertial.origin_xyz[1],
link.urdf_inertial.origin_xyz[2]);
TinyMatrix3x3<TinyScalar, TinyConstants> inertia_diag;
inertia_diag.set_identity();
inertia_diag(0, 0) = local_inertia[0];
inertia_diag(1, 1) = local_inertia[1];
inertia_diag(2, 2) = local_inertia[2];
TinyMatrix3x3<TinyScalar, TinyConstants> rot;
rot.setEulerZYX(link.urdf_inertial.origin_rpy[0],
link.urdf_inertial.origin_rpy[1],
link.urdf_inertial.origin_rpy[2]);
TinyMatrix3x3<TinyScalar, TinyConstants> inertia_C = rot * inertia_diag;
l.m_I = TinySymmetricSpatialDyad<
TinyScalar, TinyConstants>::computeInertiaDyad(mass, com,
inertia_C, link.urdf_inertial.armature);
for (int ii = 0; ii < link.urdf_visual_shapes.size(); ii++) {
const TinyUrdfVisual<TinyScalar, TinyConstants>& visual_shape =
link.urdf_visual_shapes[ii];
l.m_visual_uids1.push_back(visual_shape.sync_visual_body_uid1);
l.m_visual_uids2.push_back(visual_shape.sync_visual_body_uid2);
TinySpatialTransform<TinyScalar, TinyConstants> visual_offset;
visual_offset.m_translation.setValue(visual_shape.origin_xyz[0],
visual_shape.origin_xyz[1],
visual_shape.origin_xyz[2]);
TinyVector3 rpy;
rpy.setValue(visual_shape.origin_rpy[0], visual_shape.origin_rpy[1],
visual_shape.origin_rpy[2]);
visual_offset.m_rotation.setEulerZYX(rpy[0], rpy[1], rpy[2]);
l.m_X_visuals.push_back(visual_offset);
}
// convert collision geometries
convert_collisions(world, link, l);
l.m_link_name = link.link_name;
l.m_joint_name = j.joint_name;
printf("name=%s %s, type: %d\n",link.link_name.c_str(),j.joint_name.c_str(), l.m_joint_type);
mb.attach(l, urdf_structures.m_links[i].m_parent_index);
}
}
return return_code;
}
static void convert_collisions(
TinyWorld<TinyScalar, TinyConstants>& world,
const TinyUrdfLink<TinyScalar, TinyConstants>& link,
TinyLink<TinyScalar, TinyConstants>& l) {
typedef ::TinyVector3<TinyScalar, TinyConstants> TinyVector3;
for (int c = 0; c < link.urdf_collision_shapes.size(); c++) {
const TinyUrdfCollision<TinyScalar, TinyConstants>& col =
link.urdf_collision_shapes[c];
TinySpatialTransform<TinyScalar, TinyConstants> collision_offset;
collision_offset.m_translation.setValue(
col.origin_xyz[0], col.origin_xyz[1], col.origin_xyz[2]);
TinyVector3 rpy;
rpy.setValue(col.origin_rpy[0], col.origin_rpy[1], col.origin_rpy[2]);
collision_offset.m_rotation.setEulerZYX(rpy[0], rpy[1], rpy[2]);
switch (col.geometry.geom_type) {
case TINY_SPHERE_TYPE: {
TinyGeometry<TinyScalar, TinyConstants>* geom =
world.create_sphere(col.geometry.m_sphere.m_radius);
l.m_collision_geometries.push_back(geom);
l.m_X_collisions.push_back(collision_offset);
break;
}
case TINY_BOX_TYPE: {
TinyGeometry<TinyScalar, TinyConstants>* geom =
world.create_box(col.geometry.m_box.m_extents);
l.m_collision_geometries.push_back(geom);
l.m_X_collisions.push_back(collision_offset);
break;
}
case TINY_CAPSULE_TYPE: {
TinyGeometry<TinyScalar, TinyConstants>* geom =
world.create_capsule(TinyScalar(col.geometry.m_capsule.m_radius),
TinyScalar(col.geometry.m_capsule.m_length));
l.m_collision_geometries.push_back(geom);
l.m_X_collisions.push_back(collision_offset);
break;
}
// case GEOM_MESH: {
// // col.m_mesh.m_file_name = colShapeData.m_meshAssetFileName;
// // col.m_mesh.m_scale.setValue(colShapeData.m_dimensions[0],
// // colShapeData.m_dimensions[1], colShapeData.m_dimensions[2]);
// break;
//}
case TINY_PLANE_TYPE: {
TinyGeometry<TinyScalar, TinyConstants>* geom = world.create_plane();
l.m_collision_geometries.push_back(geom);
l.m_X_collisions.push_back(collision_offset);
break;
}
default: {
}
};
}
}
};
#endif // TINY_URDF_TO_MULTI_BODY_H