Rune Harlyk
336 lines
12 KiB
C++
336 lines
12 KiB
C++
#include <Kinematics.h>
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#include <MathUtils.h>
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struct gait_state_t {
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float step_height;
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float step_x;
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float step_z;
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float step_angle;
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float step_velocity;
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float step_depth;
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};
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struct ControllerCommand {
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int stop;
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float lx, ly, rx, ry, h, s, s1;
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};
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class GaitState {
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protected:
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virtual const char *name() const = 0;
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float default_feet_pos[4][4] = {{1, -1, 0.7, 1}, {1, -1, -0.7, 1}, {-1, -1, 0.7, 1}, {-1, -1, -0.7, 1}};
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gait_state_t gait_state = {0.4, 0, 0, 0, 1, 0.002};
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void mapCommand(ControllerCommand command) {
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this->gait_state.step_height = 0.4 + (command.s1 / 128 + 1) / 2;
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this->gait_state.step_x = command.ly / 128;
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this->gait_state.step_z = -command.lx / 128;
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this->gait_state.step_velocity = command.s / 128 + 1;
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this->gait_state.step_angle = command.rx / 128;
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this->gait_state.step_depth = 0.002;
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}
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public:
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virtual float getDefaultHeight() const { return 0.5f; }
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virtual void begin() { ESP_LOGI("Gait Planner", "Starting %s", name()); }
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virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()); }
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virtual void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) {
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this->mapCommand(command);
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}
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};
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class IdleState : public GaitState {
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protected:
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const char *name() const override { return "Idle"; }
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};
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class RestState : public GaitState {
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protected:
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const char *name() const override { return "Rest"; }
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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body_state.omega = 0;
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body_state.phi = 0;
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body_state.psi = 0;
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body_state.xm = 0;
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body_state.ym = getDefaultHeight() / 2;
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body_state.zm = 0;
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body_state.updateFeet(default_feet_pos);
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}
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};
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class StandState : public GaitState {
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protected:
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const char *name() const override { return "Stand"; }
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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body_state.omega = 0;
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body_state.phi = command.rx / 8;
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body_state.psi = command.ry / 8;
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body_state.xm = command.ly / 2 / 100;
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body_state.zm = command.lx / 2 / 100;
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body_state.updateFeet(default_feet_pos);
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}
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};
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class PhaseGaitState : public GaitState {
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protected:
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int phase = 0;
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float phase_time = 0;
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virtual int num_phases() const = 0;
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virtual float phase_speed_factor() const = 0;
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virtual float swing_stand_ratio() const = 0;
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float dt = 0.02f;
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uint8_t contact_phases[4][8];
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float shifts[4][3];
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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mapCommand(command);
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this->dt = dt;
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updatePhase();
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updateBodyPosition(body_state);
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updateFeetPositions(body_state);
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}
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void updatePhase() {
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phase_time += dt * phase_speed_factor() * gait_state.step_velocity;
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if (phase_time >= 1.0f) {
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phase += 1;
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if (phase == num_phases()) phase = 0;
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phase_time = 0;
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}
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}
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void updateBodyPosition(body_state_t &body_state) {
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if (num_phases() == 4) return;
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const auto &shift = shifts[phase / 2];
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body_state.xm += (shift[0] - body_state.xm) * dt * 4;
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body_state.zm += (shift[2] - body_state.zm) * dt * 4;
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}
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void updateFeetPositions(body_state_t &body_state) {
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for (int i = 0; i < 4; ++i) {
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updateFootPosition(body_state, i);
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}
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}
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void updateFootPosition(body_state_t &body_state, int index) {
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bool contact = contact_phases[index][phase];
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contact ? stand(body_state, index) : swing(body_state, index);
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}
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void stand(body_state_t &body_state, int index) {
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float delta_pos[3] = {-gait_state.step_x * dt * swing_stand_ratio(), 0,
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-gait_state.step_z * dt * swing_stand_ratio()};
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body_state.feet[index][0] += delta_pos[0];
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body_state.feet[index][1] = default_feet_pos[index][1];
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body_state.feet[index][2] += delta_pos[2];
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}
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void swing(body_state_t &body_state, int index) {
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float delta_pos[3] = {gait_state.step_x * dt, 0, gait_state.step_z * dt};
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if (std::fabs(gait_state.step_x) < 0.01) {
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delta_pos[0] = (default_feet_pos[index][0] - body_state.feet[index][0]) * dt * 8;
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}
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if (std::fabs(gait_state.step_z) < 0.01) {
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delta_pos[2] = (default_feet_pos[index][2] - body_state.feet[index][2]) * dt * 8;
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}
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body_state.feet[index][0] += delta_pos[0];
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body_state.feet[index][1] = default_feet_pos[index][1] + std::sin(phase_time * M_PI) * gait_state.step_height;
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body_state.feet[index][2] += delta_pos[2];
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}
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};
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class FourPhaseWalkState : public PhaseGaitState {
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protected:
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const char *name() const override { return "Four phase walk"; }
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int num_phases() const override { return 4; }
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float phase_speed_factor() const override { return 6; }
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float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
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public:
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FourPhaseWalkState() {
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uint8_t contact[4][4] = {{1, 0, 1, 1}, {1, 1, 1, 0}, {1, 1, 1, 0}, {1, 0, 1, 1}};
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for (int i = 0; i < 4; ++i) {
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for (int j = 0; j < 4; ++j) {
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contact_phases[i][j] = contact[i][j];
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}
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}
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}
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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return PhaseGaitState::step(body_state, command, dt);
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}
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};
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class EightPhaseWalkState : public PhaseGaitState {
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protected:
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const char *name() const override { return "Eight phase walk"; }
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int num_phases() const override { return 8; }
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float phase_speed_factor() const override { return 4; }
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float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
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public:
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EightPhaseWalkState() {
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uint8_t contact[4][8] = {
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{1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}, {1, 1, 1, 0, 1, 1, 1, 1}};
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float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.35f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.35f, 0, -0.2f}};
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for (uint8_t i = 0; i < 4; ++i) {
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for (uint8_t j = 0; j < 8; ++j) {
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contact_phases[i][j] = contact[i][j];
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}
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for (uint8_t j = 0; j < 3; ++j) {
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shifts[i][j] = shift_values[i][j];
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}
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}
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}
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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return PhaseGaitState::step(body_state, command, dt);
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}
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};
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class BezierState : public GaitState {
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private:
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float phase_time = 0.0f;
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static constexpr float PHASE_OFFSET[4] = {0.f, 0.5f, 0.5f, 0.f};
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static constexpr float STAND_OFFSET = 0.75f;
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static constexpr uint8_t BEZIER_POINTS = 12;
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float step_length = 0.0f;
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static constexpr std::array<float, BEZIER_POINTS> COMBINATORIAL_VALUES = {
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combinatorial_constexpr(11, 0), // 1
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combinatorial_constexpr(11, 1), // 11
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combinatorial_constexpr(11, 2), // 55
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combinatorial_constexpr(11, 3), // 165
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combinatorial_constexpr(11, 4), // 330
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combinatorial_constexpr(11, 5), // 462
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combinatorial_constexpr(11, 6), // 462
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combinatorial_constexpr(11, 7), // 330
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combinatorial_constexpr(11, 8), // 165
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combinatorial_constexpr(11, 9), // 55
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combinatorial_constexpr(11, 10), // 11
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combinatorial_constexpr(11, 11) // 1
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};
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alignas(32) static constexpr float BEZIER_STEPS[12] = {-1.0f, -1.4f, -1.5f, -1.5f, -1.5f, 0.0f,
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0.0f, 0.0f, 1.5f, 1.5f, 1.4f, 1.0f};
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alignas(32) static constexpr float BEZIER_HEIGHTS[12] = {0.0f, 0.0f, 0.9f, 0.9f, 0.9f, 0.9f,
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0.9f, 1.1f, 1.1f, 1.1f, 0.0f, 0.0f};
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public:
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const char *name() const override { return "Bezier"; }
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void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
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this->mapCommand(command);
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step_length = std::hypot(gait_state.step_x, gait_state.step_z);
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if (gait_state.step_x < 0.0f) {
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step_length = -step_length;
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}
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updatePhase(dt);
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updateFeetPositions(body_state);
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}
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protected:
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void updatePhase(float dt) { phase_time = std::fmod(phase_time + dt * gait_state.step_velocity * 2, 1.0f); }
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void updateFeetPositions(body_state_t &body_state) {
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for (int i = 0; i < 4; ++i) {
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updateFootPosition(body_state, i);
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}
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}
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void updateFootPosition(body_state_t &body_state, const int index) {
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body_state.feet[index][0] = this->default_feet_pos[index][0];
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body_state.feet[index][1] = this->default_feet_pos[index][1];
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body_state.feet[index][2] = this->default_feet_pos[index][2];
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const float leg_phase = std::fmod(phase_time + PHASE_OFFSET[index], 1.0f);
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const bool contact = leg_phase <= STAND_OFFSET;
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contact ? standController(body_state, index, leg_phase / 0.75)
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: swingController(body_state, index, (leg_phase - 0.75) / (1 - 0.75));
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}
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void standController(body_state_t &body_state, const int index, const float phase) {
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controller(index, body_state, phase, stanceCurve, &gait_state.step_depth);
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}
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void swingController(body_state_t &body_state, const int index, const float phase) {
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controller(index, body_state, phase, bezierCurve, &gait_state.step_height);
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}
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void controller(const int index, body_state_t &body_state, const float phase,
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std::function<void(float, float, float *, float, float *)> curve, float *arg) {
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float delta_pos[3] = {0};
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float delta_rot[3] = {0};
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float length = step_length / 2.0f;
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float angle = std::atan2(gait_state.step_z, step_length) * 2;
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curve(length, angle, arg, phase, delta_pos);
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length = gait_state.step_angle * 2.0f;
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angle = yawArc(default_feet_pos[index], body_state.feet[index]);
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curve(length, angle, arg, phase, delta_rot);
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body_state.feet[index][0] += delta_pos[0] + delta_rot[0] * 0.2;
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if (step_length || gait_state.step_angle) body_state.feet[index][1] += delta_pos[1] + delta_rot[1] * 0.2;
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body_state.feet[index][2] += delta_pos[2] + delta_rot[2] * 0.2;
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}
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static void stanceCurve(const float length, const float angle, const float *depth, const float phase,
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float *point) {
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float step = length * (1.0f - 2.0f * phase);
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point[0] += step * std::cos(angle);
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point[2] += step * std::sin(angle);
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if (length != 0.0f) {
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point[1] = -*depth * std::cos((M_PI * (point[0] + point[2])) / (2.f * length));
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}
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}
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static void bezierCurve(const float length, const float angle, const float *height, const float phase,
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float *point) {
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const float X_POLAR = std::cos(angle);
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const float Z_POLAR = std::sin(angle);
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float phase_power = 1.0f;
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float inv_phase_power = std::pow(1.0f - phase, 11);
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const float one_minus_phase = 1.0f - phase;
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for (int i = 0; i < 12; i++) {
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float b = COMBINATORIAL_VALUES[i] * phase_power * inv_phase_power;
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point[0] += b * BEZIER_STEPS[i] * length * X_POLAR;
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point[1] += b * BEZIER_HEIGHTS[i] * *height;
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point[2] += b * BEZIER_STEPS[i] * length * Z_POLAR;
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phase_power *= phase;
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inv_phase_power /= one_minus_phase;
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}
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}
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static float yawArc(const float feet_pos[4], const float *current_pos) {
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const float foot_mag = std::hypot(feet_pos[0], feet_pos[2]);
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const float foot_dir = std::atan2(feet_pos[2], feet_pos[0]);
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const float offsets[] = {current_pos[0] - feet_pos[0], current_pos[1] - feet_pos[1],
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current_pos[2] - feet_pos[2]};
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const float offset_mag = std::hypot(offsets[0], offsets[2]);
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const float offset_mod = std::atan2(offset_mag, foot_mag);
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return M_PI_2 + foot_dir + offset_mod;
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}
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}; |