🌬️ Optimized kinematric.ts with pre computation
This commit is contained in:
Rune Harlyk
+109
-163
@@ -1,11 +1,38 @@
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export default class Kinematic {
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private l1: number;
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private l2: number;
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private l3: number;
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private l4: number;
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export interface position_t {
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omega: number;
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phi: number;
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psi: number;
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xm: number;
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ym: number;
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zm: number;
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}
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private L: number;
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private W: number;
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const { cos, sin, atan2, sqrt, acos } = Math;
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export default class Kinematic {
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l1: number;
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l2: number;
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l3: number;
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l4: number;
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L: number;
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W: number;
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DEGREES2RAD = 0.017453292519943;
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sHp = sin(Math.PI / 2);
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cHp = cos(Math.PI / 2);
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Tlf: number[][] = [];
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Trf: number[][] = [];
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Tlb: number[][] = [];
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Trb: number[][] = [];
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point_lf: number[][];
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point_rf: number[][];
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point_lb: number[][];
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point_rb: number[][];
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Ix: number[][];
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constructor() {
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this.l1 = 50;
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@@ -15,106 +42,99 @@ export default class Kinematic {
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this.L = 140;
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this.W = 75;
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}
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bodyIK(
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omega: number,
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phi: number,
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psi: number,
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xm: number,
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ym: number,
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zm: number
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): number[][][] {
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const { cos, sin } = Math;
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const Rx: number[][] = [
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[1, 0, 0, 0],
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[0, cos(omega), -sin(omega), 0],
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[0, sin(omega), cos(omega), 0],
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[0, 0, 0, 1]
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];
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const Ry: number[][] = [
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[cos(phi), 0, sin(phi), 0],
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this.point_lf = [
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[this.cHp, 0, this.sHp, this.L / 2],
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[0, 1, 0, 0],
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[-sin(phi), 0, cos(phi), 0],
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[-this.sHp, 0, this.cHp, this.W / 2],
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[0, 0, 0, 1]
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];
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const Rz: number[][] = [
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[cos(psi), -sin(psi), 0, 0],
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[sin(psi), cos(psi), 0, 0],
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this.point_rf = [
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[this.cHp, 0, this.sHp, this.L / 2],
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[0, 1, 0, 0],
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[-this.sHp, 0, this.cHp, -this.W / 2],
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[0, 0, 0, 1]
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];
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this.point_lb = [
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[this.cHp, 0, this.sHp, -this.L / 2],
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[0, 1, 0, 0],
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[-this.sHp, 0, this.cHp, this.W / 2],
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[0, 0, 0, 1]
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];
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this.point_rb = [
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[this.cHp, 0, this.sHp, -this.L / 2],
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[0, 1, 0, 0],
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[-this.sHp, 0, this.cHp, -this.W / 2],
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[0, 0, 0, 1]
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];
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this.Ix = [
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[-1, 0, 0, 0],
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[0, 1, 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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];
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const Rxyz: number[][] = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);
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}
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const T: number[][] = [
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[0, 0, 0, xm],
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[0, 0, 0, ym],
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[0, 0, 0, zm],
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[0, 0, 0, 0]
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];
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const Tm: number[][] = this.matrixAdd(T, Rxyz);
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const sHp = sin(Math.PI / 2);
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const cHp = cos(Math.PI / 2);
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const L = this.L;
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const W = this.W;
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public calcIK(Lp: number[][], position: position_t): number[][] {
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this.bodyIK(position);
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return [
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, W / 2],
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[0, 0, 0, 1]
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, -W / 2],
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[0, 0, 0, 1]
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, -L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, W / 2],
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[0, 0, 0, 1]
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, -L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, -W / 2],
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[0, 0, 0, 1]
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])
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this.legIK(this.multiplyVector(this.inverse(this.Tlf), Lp[0])),
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this.legIK(this.multiplyVector(this.Ix, this.multiplyVector(this.inverse(this.Trf), Lp[1]))),
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this.legIK(this.multiplyVector(this.inverse(this.Tlb), Lp[2])),
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this.legIK(this.multiplyVector(this.Ix, this.multiplyVector(this.inverse(this.Trb), Lp[3])))
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];
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}
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bodyIK(p: position_t) {
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const cos_omega = cos(p.omega * this.DEGREES2RAD);
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const sin_omega = sin(p.omega * this.DEGREES2RAD);
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const cos_phi = cos(p.phi * this.DEGREES2RAD);
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const sin_phi = sin(p.phi * this.DEGREES2RAD);
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const cos_psi = cos(p.psi * this.DEGREES2RAD);
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const sin_psi = sin(p.psi * this.DEGREES2RAD);
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const Tm: number[][] = [
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[cos_phi * cos_psi, -sin_psi * cos_phi, sin_phi, p.xm],
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[
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sin_omega * sin_phi * cos_psi + sin_psi * cos_omega,
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-sin_omega * sin_phi * sin_psi + cos_omega * cos_psi,
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-sin_omega * cos_phi,
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p.ym
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],
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[
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sin_omega * sin_psi - sin_phi * cos_omega * cos_psi,
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sin_omega * cos_psi + sin_phi * sin_psi * cos_omega,
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cos_omega * cos_phi,
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p.zm
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],
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[0, 0, 0, 1]
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];
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this.Tlf = this.matrixMultiply(Tm, this.point_lf);
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this.Trf = this.matrixMultiply(Tm, this.point_rf);
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this.Tlb = this.matrixMultiply(Tm, this.point_lb);
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this.Trb = this.matrixMultiply(Tm, this.point_rb);
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}
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private legIK(point: number[]): number[] {
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const [x, y, z] = point;
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const { atan2, cos, sin, sqrt, acos } = Math;
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const { l1, l2, l3, l4 } = this;
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let F;
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let F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
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if (isNaN(F)) F = this.l1;
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try {
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F = sqrt(x ** 2 + y ** 2 - l1 ** 2);
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if (isNaN(F)) throw new Error('F is NaN');
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} catch (error) {
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//console.log(error)
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F = l1;
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}
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const G = F - l2;
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const G = F - this.l2;
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const H = sqrt(G ** 2 + z ** 2);
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const theta1 = -atan2(y, x) - atan2(F, -l1);
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const D = (H ** 2 - l3 ** 2 - l4 ** 2) / (2 * l3 * l4);
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let theta3: number;
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try {
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theta3 = acos(D);
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if (isNaN(theta3)) throw new Error('theta3 is NaN');
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} catch (error) {
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theta3 = 0;
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}
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const theta2 = atan2(z, G) - atan2(l4 * sin(theta3), l3 + l4 * cos(theta3));
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const theta1 = -atan2(y, x) - atan2(F, -this.l1);
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const D = (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4);
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let theta3 = acos(D);
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if (isNaN(theta3)) theta3 = 0;
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const theta2 = atan2(z, G) - atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
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return [theta1, theta2, theta3];
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}
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@@ -165,81 +185,7 @@ export default class Kinematic {
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return result;
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}
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private matrixAdd(a: number[][], b: number[][]): number[][] {
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const result: number[][] = [];
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for (let i = 0; i < a.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < a[i].length; j++) {
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row.push(a[i][j] + b[i][j]);
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}
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result.push(row);
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}
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return result;
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}
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public calcLegPoints(angles: number[]): number[][] {
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const [theta1, theta2, theta3] = angles;
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const theta23 = theta2 + theta3;
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const T0: number[] = [0, 0, 0, 1];
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const T1: number[] = this.vectorAdd(T0, [
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-this.l1 * Math.cos(theta1),
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this.l1 * Math.sin(theta1),
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0,
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0
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]);
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const T2: number[] = this.vectorAdd(T1, [
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-this.l2 * Math.sin(theta1),
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-this.l2 * Math.cos(theta1),
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0,
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0
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]);
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const T3: number[] = this.vectorAdd(T2, [
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-this.l3 * Math.sin(theta1) * Math.cos(theta2),
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-this.l3 * Math.cos(theta1) * Math.cos(theta2),
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this.l3 * Math.sin(theta2),
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0
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]);
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const T4: number[] = this.vectorAdd(T3, [
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-this.l4 * Math.sin(theta1) * Math.cos(theta23),
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-this.l4 * Math.cos(theta1) * Math.cos(theta23),
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this.l4 * Math.sin(theta23),
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0
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]);
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return [T0, T1, T2, T3, T4];
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}
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public calcIK(Lp: number[][], angles: number[], center: number[]): number[][] {
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const [omega, phi, psi] = angles;
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const [xm, ym, zm] = center;
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const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
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const Ix: number[][] = [
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[-1, 0, 0, 0],
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[0, 1, 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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];
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return [
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this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
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this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trf), Lp[1]))),
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this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
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this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trb), Lp[3])))
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];
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}
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private vectorAdd(a: number[], b: number[]): number[] {
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return a.map((val, index) => val + b[index]);
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}
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private matrixInverse(matrix: number[][]): number[][] {
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private inverse(matrix: number[][]): number[][] {
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const det = this.determinant(matrix);
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const adjugate = this.adjugate(matrix);
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const scalar = 1 / det;
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