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Implement the global velocity move command for robots. #12

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Implement the global velocity move command for robots. #12

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25 changes: 21 additions & 4 deletions src/amun/simulator/simrobot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -398,13 +398,30 @@ void SimRobot::begin(SimBall *ball, double time)
m_shootTime = 0.0;
}

if (m_inStandby || !m_sslCommand.has_move_command() || !m_sslCommand.move_command().has_local_velocity()) {
if (m_inStandby || !m_sslCommand.has_move_command()) {
return;
}

float output_v_f = m_sslCommand.move_command().local_velocity().forward();
float output_v_s = -m_sslCommand.move_command().local_velocity().left();
float output_omega = m_sslCommand.move_command().local_velocity().angular();
float output_v_f = 0.0;
float output_v_s = 0.0;
float output_omega = 0.0;

if(m_sslCommand.move_command().has_global_velocity()) {
const btQuaternion q = m_body->getWorldTransform().getRotation();
const btVector3 dir = btMatrix3x3(q).getColumn(0);
const float body_global_rotation_rad = atan2(dir.y(), dir.x());
const float global_to_local_rotation = -body_global_rotation_rad;

output_v_f = m_sslCommand.move_command().global_velocity().x() * cos(global_to_local_rotation) - m_sslCommand.move_command().global_velocity().y() * sin(global_to_local_rotation);
output_v_s = -(m_sslCommand.move_command().global_velocity().x() * sin(global_to_local_rotation) + m_sslCommand.move_command().global_velocity().y() * cos(global_to_local_rotation));
output_omega = m_sslCommand.move_command().global_velocity().angular();
}else if (m_sslCommand.move_command().has_local_velocity()) {
output_v_f = m_sslCommand.move_command().local_velocity().forward();
output_v_s = -m_sslCommand.move_command().local_velocity().left();
output_omega = m_sslCommand.move_command().local_velocity().angular();
}else {
return;
}

btVector3 v_local(t.inverse() * m_body->getLinearVelocity());
btVector3 v_d_local(boundSpeed(output_v_s), boundSpeed(output_v_f), 0);
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2 changes: 1 addition & 1 deletion src/simulator/simulator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -526,7 +526,7 @@ void RobotCommandAdaptor::handleDatagrams()
for (const auto& command : control->robot_commands()) {
if (command.has_move_command()) {
const auto& moveCmd = command.move_command();
if (moveCmd.has_wheel_velocity() || moveCmd.has_global_velocity()) {
if (moveCmd.has_wheel_velocity()) {
sendRcr = true;
const std::string robotStr = "(Robot :" + std::to_string(command.id()) + ")";
setError(rcr.add_errors(), SimError::UNSUPPORTED_VELOCITY, ERROR_SOURCE, robotStr);
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