diff --git a/.gitignore b/.gitignore index fae25dce1facaccabf8aa15085cf2491d5959212..89510bf90b989e0c38192af6d2429c779dc2e1bc 100644 --- a/.gitignore +++ b/.gitignore @@ -4,7 +4,10 @@ README.txt bin/ build/ +build_debug/ build_release/ +build-debug/ +build-release/ lib/ .idea/ ./Wolf.user @@ -30,6 +33,5 @@ src/CMakeFiles/cmake.check_cache src/examples/map_apriltag_save.yaml \.vscode/ -build_release/ wolf.found diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 7b2d492256e0421030771b0a10bc5c7eca00352b..355377d34fc5eace45662a92970c30c837fe3ad7 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -1,71 +1,161 @@ -image: labrobotica/ceres:1.14 +stages: + - license + - build_and_test -before_script: - - ls +############ YAML ANCHORS ############ +.preliminaries_template: &preliminaries_definition + ## Install ssh-agent if not already installed, it is required by Docker. + ## (change apt-get to yum if you use an RPM-based image) + - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )' + + ## Run ssh-agent (inside the build environment) + - eval $(ssh-agent -s) + + ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store + ## We're using tr to fix line endings which makes ed25519 keys work + ## without extra base64 encoding. + ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556 + - mkdir -p ~/.ssh + - chmod 700 ~/.ssh + - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null + # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts + - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts + + # update apt - apt-get update - - apt-get install -y build-essential cmake -# SPDLOG -# - apt-get install -y libspdlog-dev - - if [ -d spdlog ]; then - - echo "directory exists" - - if [ "$(ls -A ./spdlog)" ]; then - - echo "directory not empty" - - cd spdlog - - git pull - - else - - echo "directory empty" - - git clone https://github.com/gabime/spdlog.git - - cd spdlog - - fi + # create 'ci_deps' folder (if not exists) + - mkdir -pv ci_deps + +.license_header_template: &license_header_definition + - cd $CI_PROJECT_DIR + + # configure git + - export CI_NEW_BRANCH=ci_processing$RANDOM + - echo creating new temporary branch... $CI_NEW_BRANCH + - git config --global user.email "${CI_EMAIL}" + - git config --global user.name "${CI_USERNAME}" + - git checkout -b $CI_NEW_BRANCH # temporary branch + + # license headers + - export CURRENT_YEAR=$( date +'%Y' ) + - echo "current year:" ${CURRENT_YEAR} + - if [ -f license_header_${CURRENT_YEAR}.txt ]; then + # add license headers to new files + - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..." + - ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps + - else + # update license headers of all files + - export PREV_YEAR=$(( CURRENT_YEAR-1 )) + - echo "Creating new file license_header_${CURRENT_YEAR}.txt..." + - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt + - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt + - ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps + - fi + + # push changes (if any) + - if git commit -a -m "[skip ci] license headers added or modified" ; then + - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git" + - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME} + - else + - echo "No changes, nothing to commit!" + - fi + +.install_wolf_template: &install_wolf_definition + - cd ${CI_PROJECT_DIR}/ci_deps + - if [ -d wolf ]; then + - echo "directory wolf exists" + - cd wolf + - git checkout devel + - git pull + - git checkout $WOLF_CORE_BRANCH + - git pull - else - - echo "directory inexistent" - - git clone https://github.com/gabime/spdlog.git - - cd spdlog + - git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git + - cd wolf - fi - - git fetch - - git checkout v0.17.0 - mkdir -pv build - cd build - - ls - - cmake -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" -DSPDLOG_BUILD_TESTING=OFF .. + - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF .. + - make -j$(nproc) - make install - - cd ../.. -# YAML -# - apt-get install -y libyaml-cpp-dev - - if [ -d yaml-cpp ]; then - - echo "directory exists" - - if [ "$(ls -A ./yaml-cpp)" ]; then - - echo "directory not empty" - - cd yaml-cpp - - git pull - - else - - echo "directory empty" - - git clone https://github.com/jbeder/yaml-cpp.git - - cd yaml-cpp - - fi +.install_wolfimu_template: &install_wolfimu_definition + - cd ${CI_PROJECT_DIR}/ci_deps + - if [ -d imu ]; then + - echo "directory imu exists" + - cd imu + - git checkout devel + - git pull + - git checkout $WOLF_IMU_BRANCH + - git pull - else - - echo "directory inexistent" - - git clone https://github.com/jbeder/yaml-cpp.git - - cd yaml-cpp + - git clone -b $WOLF_IMU_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git + - cd imu - fi - mkdir -pv build - cd build - - ls - - cmake -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" -DYAML_CPP_BUILD_TESTS=OFF .. + - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF .. + - make -j$(nproc) + - make install + +.build_and_test_template: &build_and_test_definition + - cd $CI_PROJECT_DIR + - mkdir -pv build + - cd build + - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON .. + - make -j$(nproc) + - ctest -j$(nproc) - make install - - cd ../.. -wolf_build_and_test: - stage: build - except: - - master +############ LICENSE HEADERS ############ +license_headers: + stage: license + image: labrobotica/wolf_deps:20.04 + cache: + - key: wolf-focal + paths: + - ci_deps/wolf/ + before_script: + - *preliminaries_definition + - *install_wolf_definition + script: + - *license_header_definition + +############ UBUNTU 18.04 TESTS ############ +build_and_test:bionic: + image: labrobotica/wolf_deps:18.04 + stage: build_and_test + cache: + - key: wolf-bionic + paths: + - ci_deps/wolf/ + - key: imu-bionic + paths: + - ci_deps/imu/ + before_script: + - *preliminaries_definition + - *install_wolf_definition + - *install_wolfimu_definition + - ldconfig # update links (shared libraries) + script: + - *build_and_test_definition + +############ UBUNTU 20.04 TESTS ############ +build_and_test:focal: + image: labrobotica/wolf_deps:20.04 + stage: build_and_test + cache: + - key: wolf-focal + paths: + - ci_deps/wolf/ + - key: imu-focal + paths: + - ci_deps/imu/ + before_script: + - *preliminaries_definition + - *install_wolf_definition + - *install_wolfimu_definition + - ldconfig # update links (shared libraries) script: - - mkdir -pv build - - cd build - - ls # we can check whether the directory was already full - - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON .. - - make -j$(nproc) - - ctest -j$(nproc) - - make install + - *build_and_test_definition diff --git a/CMakeLists.txt b/CMakeLists.txt index c71a9885f3622a706f27d03cc06424378af29c7e..f69b7b25db5a277054148ad8ebd5221db090170d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ # Pre-requisites about cmake itself -CMAKE_MINIMUM_REQUIRED(VERSION 2.6) +CMAKE_MINIMUM_REQUIRED(VERSION 2.8) if(COMMAND cmake_policy) cmake_policy(SET CMP0005 NEW) @@ -8,11 +8,12 @@ endif(COMMAND cmake_policy) # MAC OSX RPATH SET(CMAKE_MACOSX_RPATH 1) - # The project name PROJECT(bodydynamics) set(PLUGIN_NAME wolf${PROJECT_NAME}) +MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...") + SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin) SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib) SET(CMAKE_INSTALL_PREFIX /usr/local) @@ -26,29 +27,34 @@ message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.") SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT") SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT") -#Set compiler according C++11 support +#Set compiler according C++14 support include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -elseif(COMPILER_SUPPORTS_CXX0X) - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14) +if(COMPILER_SUPPORTS_CXX14) + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++14 support.") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") else() - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.") endif() if(UNIX) # GCC is not strict enough by default, so enable most of the warnings. - # set(CMAKE_CXX_FLAGS - # "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers") + set(CMAKE_CXX_FLAGS + "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers") endif(UNIX) +IF(NOT BUILD_TESTS) + OPTION(BUILD_TESTS "Build Unit tests" ON) +ENDIF(NOT BUILD_TESTS) + +IF(NOT BUILD_DEMOS) + OPTION(BUILD_DEMOS "Build demos in demos folder, requires robotpkg-multicontact-api and robotpkg-pinocchio packages" OFF) +ENDIF(NOT BUILD_DEMOS) + +IF(NOT BUILD_DOC) + OPTION(BUILD_DOC "Build Documentation" OFF) +ENDIF(NOT BUILD_DOC) -OPTION(BUILD_TESTS "Build Unit tests" ON) -OPTION(BUILD_DEMOS "Build demos in demos folder, requires robotpkg-multicontact-api and robotpkg-pinocchio packages" OFF) ############# ## Testing ## ############# @@ -61,39 +67,25 @@ if(BUILD_TESTS) enable_testing() endif() -#+START_SRC -------------------------------------------------------------------------------------------------------------------------------- -#Start WOLF build -MESSAGE("Starting WOLF CMakeLists ...") -CMAKE_MINIMUM_REQUIRED(VERSION 2.8) - #CMAKE modules - SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules") MESSAGE(STATUS ${CMAKE_MODULE_PATH}) # Some wolf compilation options - IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug)) set(_WOLF_DEBUG true) ENDIF() option(_WOLF_TRACE "Enable wolf tracing macro" ON) -set(BUILD_TESTS true) - -# Does this has any other interest -# but for the examples ? -# yes, for the tests ! -IF(BUILD_DEMOS OR BUILD_TESTS) - string(TOUPPER ${PROJECT_NAME} UPPER_NAME) - set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR}) -ENDIF(BUILD_DEMOS OR BUILD_TESTS) - - -#find dependencies. +# ============ DEPENDENCIES ============ FIND_PACKAGE(wolfcore REQUIRED) FIND_PACKAGE(wolfimu REQUIRED) +# ============ CONFIG.H ============ +string(TOUPPER ${PROJECT_NAME} UPPER_NAME) +set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR}) + # Define the directory where will be the configured config.h SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal) @@ -110,12 +102,11 @@ ENDIF() configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h") include_directories("${PROJECT_BINARY_DIR}/conf") -include_directories("include") -include_directories(${wolfcore_INCLUDE_DIRS}) +# ============ INCLUDES ============ INCLUDE_DIRECTORIES(${wolfimu_INCLUDE_DIRS}) +INCLUDE_DIRECTORIES(BEFORE "include") -#HEADERS - +# ============ HEADERS ============ SET(HDRS_MATH include/bodydynamics/math/force_torque_delta_tools.h ) @@ -136,8 +127,6 @@ include/bodydynamics/feature/feature_force_torque.h include/bodydynamics/feature/feature_force_torque_preint.h include/bodydynamics/feature/feature_inertial_kinematics.h ) -SET(HDRS_LANDMARK - ) SET(HDRS_PROCESSOR include/bodydynamics/processor/processor_force_torque_preint.h include/bodydynamics/processor/processor_inertial_kinematics.h @@ -149,22 +138,18 @@ include/bodydynamics/sensor/sensor_inertial_kinematics.h include/bodydynamics/sensor/sensor_point_feet_nomove.h ) -#SOURCES +# ============ SOURCES ============ SET(SRCS_CAPTURE src/capture/capture_force_torque_preint.cpp src/capture/capture_inertial_kinematics.cpp src/capture/capture_leg_odom.cpp src/capture/capture_point_feet_nomove.cpp ) -SET(SRCS_FACTOR - ) SET(SRCS_FEATURE src/feature/feature_force_torque.cpp src/feature/feature_force_torque_preint.cpp src/feature/feature_inertial_kinematics.cpp ) -SET(SRCS_LANDMARK - ) SET(SRCS_PROCESSOR src/processor/processor_force_torque_preint.cpp src/processor/processor_inertial_kinematics.cpp @@ -180,15 +165,11 @@ src/sensor/sensor_point_feet_nomove.cpp ADD_LIBRARY(${PLUGIN_NAME} SHARED ${SRCS_CAPTURE} - ${SRCS_FACTOR} ${SRCS_FEATURE} - ${SRCS_MATH} ${SRCS_PROCESSOR} ${SRCS_SENSOR} - ${SRCS_YAML} ) - # Set compiler options # ==================== if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") @@ -201,80 +182,47 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU") # using GCC endif() +#Link the created libraries +#===============EXAMPLE========================= +TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfimu_LIBRARIES}) - -TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES}) -# Link the library with the required dependencies -# TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfimu_INCLUDE_DIRS) - +# Build demos IF(BUILD_DEMOS) MESSAGE("Building demos.") ADD_SUBDIRECTORY(demos) ENDIF(BUILD_DEMOS) #Build tests -#===============EXAMPLE========================= IF(BUILD_TESTS) MESSAGE("Building tests.") add_subdirectory(test) ENDIF(BUILD_TESTS) #install library - #============================================================= INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets RUNTIME DESTINATION bin - LIBRARY DESTINATION lib/iri-algorithms - ARCHIVE DESTINATION lib/iri-algorithms) + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib) install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME}) #install headers -INSTALL(FILES ${HDRS_MATH} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math) -INSTALL(FILES ${HDRS_UTILS} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/utils) -INSTALL(FILES ${HDRS_PROBLEM} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/problem) -INSTALL(FILES ${HDRS_HARDWARE} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/hardware) -INSTALL(FILES ${HDRS_TRAJECTORY} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/trajectory) -INSTALL(FILES ${HDRS_MAP} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/map) -INSTALL(FILES ${HDRS_FRAME} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/frame) -INSTALL(FILES ${HDRS_STATE_BLOCK} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/state_block) -INSTALL(FILES ${HDRS_COMMON} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/common) -INSTALL(FILES ${HDRS_DTASSC} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association) INSTALL(FILES ${HDRS_CAPTURE} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture) INSTALL(FILES ${HDRS_FACTOR} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor) INSTALL(FILES ${HDRS_FEATURE} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature) -INSTALL(FILES ${HDRS_SENSOR} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor) +INSTALL(FILES ${HDRS_MATH} + DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math) INSTALL(FILES ${HDRS_PROCESSOR} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor) -INSTALL(FILES ${HDRS_LANDMARK} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark) -INSTALL(FILES ${HDRS_WRAPPER} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper) -INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse) -INSTALL(FILES ${HDRS_SOLVER} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver) -INSTALL(FILES ${HDRS_YAML} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml) +INSTALL(FILES ${HDRS_SENSOR} + DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor) FILE(WRITE ${PROJECT_NAME}.found "") INSTALL(FILES ${PROJECT_NAME}.found DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}) - - INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h" DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal) @@ -282,7 +230,6 @@ INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DES export(PACKAGE ${PLUGIN_NAME}) -#-END_SRC -------------------------------------------------------------------------------------------------------------------------------- FIND_PACKAGE(Doxygen) FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..281d399f13dfd23087acc56303dd38d68162587c --- /dev/null +++ b/LICENSE @@ -0,0 +1,619 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. diff --git a/README.md b/README.md index 7a6bdb0a88395a96d4a97deecf464c691dab1c5d..3a01e8c1efec2103eb85f0868bf27a3f4c49acef 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,4 @@ -WOLF - Windowed Localization Frames | bodydynamics Plugin -=================================== +WOLF Bodydynamics Plugin +======================== -For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf_doc/). - -TODO \ No newline at end of file +For installation guide and code documentation, please visit the [documentation website](http://www.iri.upc.edu/wolf). diff --git a/cmake_modules/wolfbodydynamicsConfig.cmake b/cmake_modules/wolfbodydynamicsConfig.cmake index b7892af3f5a97fde7ce130c0571d340a4929194f..cfb538c1d7d49ef39ea0f6994488f9bc59d27724 100644 --- a/cmake_modules/wolfbodydynamicsConfig.cmake +++ b/cmake_modules/wolfbodydynamicsConfig.cmake @@ -12,7 +12,7 @@ ENDIF(wolfbodydynamics_INCLUDE_DIRS) FIND_LIBRARY( wolfbodydynamics_LIBRARIES NAMES libwolfbodydynamics.so - PATHS /usr/local/lib/iri-algorithms) + PATHS /usr/local/lib) IF(wolfbodydynamics_LIBRARIES) MESSAGE("Found wolf bodydynamics lib: ${wolfbodydynamics_LIBRARIES}") ELSE(wolfbodydynamics_LIBRARIES) @@ -48,7 +48,7 @@ macro(wolf_report_not_found REASON_MSG) # FindPackage() use the camelcase library name, not uppercase. if (wolfbodydynamics_FIND_QUIETLY) message(STATUS "Failed to find wolf bodydynamics- " ${REASON_MSG} ${ARGN}) - else (wolfbodydynamics_FIND_REQUIRED) + elseif(wolfbodydynamics_FIND_REQUIRED) message(FATAL_ERROR "Failed to find wolf bodydynamics - " ${REASON_MSG} ${ARGN}) else() # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error @@ -83,4 +83,9 @@ if(NOT wolf_FOUND) list(REVERSE wolfbodydynamics_LIBRARIES) list(APPEND wolfbodydynamics_LIBRARIES ${wolfcore_LIBRARIES}) list(REVERSE wolfbodydynamics_LIBRARIES) -endif() \ No newline at end of file +endif() + +# provide both INCLUDE_DIR and INCLUDE_DIRS +SET(wolfbodydynamics_INCLUDE_DIR ${wolfbodydynamics_INCLUDE_DIRS}) +# provide both LIBRARY and LIBRARIES +SET(wolfbodydynamics_LIBRARY ${wolfbodydynamics_LIBRARIES}) \ No newline at end of file diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt index e070121147a47b1e73fcd72e714ac3afa01e8f42..4c57e21c724478a56852c13e498ee655ac4a84f8 100644 --- a/demos/CMakeLists.txt +++ b/demos/CMakeLists.txt @@ -1,81 +1,72 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals") # necessary for files using boost -FIND_PACKAGE(pinocchio REQUIRED) -FIND_PACKAGE(multicontact-api REQUIRED) +FIND_PACKAGE(pinocchio QUIET) +FIND_PACKAGE(multicontact-api QUIET) -# SYSTEM disables warnings from library headers -include_directories( - SYSTEM ${PINOCCHIO_INCLUDE_DIRS} -) - -add_library(mcapi_utils mcapi_utils.cpp) - -# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp) -# target_link_libraries(mcapi_povcdl_estimation -# mcapi_utils -# ${wolfcore_LIBRARIES} -# ${wolfimu_LIBRARIES} -# ${PLUGIN_NAME} -# ${multicontact-api_LIBRARIES} -# ${pinocchio_LIBRARIES} -# ) -# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER}) - - -# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp) -# target_link_libraries(mcapi_pov_estimation -# mcapi_utils -# ${wolfcore_LIBRARIES} -# ${wolfimu_LIBRARIES} -# ${PLUGIN_NAME} -# ${multicontact-api_LIBRARIES} -# ${pinocchio_LIBRARIES} -# ) -# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER}) - -add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp) -target_link_libraries(solo_real_povcdl_estimation - mcapi_utils - ${wolfcore_LIBRARIES} - ${wolfimu_LIBRARIES} - ${PLUGIN_NAME} - ${pinocchio_LIBRARIES} - /usr/local/lib/libcnpy.so - z -) - -add_executable(solo_imu_kine solo_imu_kine.cpp) -target_link_libraries(solo_imu_kine - mcapi_utils - ${wolfcore_LIBRARIES} - ${wolfimu_LIBRARIES} - ${PLUGIN_NAME} - ${pinocchio_LIBRARIES} - /usr/local/lib/libcnpy.so - z -) - -add_executable(solo_kine_mocap solo_kine_mocap.cpp) -target_link_libraries(solo_kine_mocap - mcapi_utils - ${wolfcore_LIBRARIES} - ${wolfimu_LIBRARIES} - ${PLUGIN_NAME} - ${pinocchio_LIBRARIES} - /usr/local/lib/libcnpy.so - z -) - -add_executable(solo_imu_mocap solo_imu_mocap.cpp) -target_link_libraries(solo_imu_mocap - ${wolfcore_LIBRARIES} - ${wolfimu_LIBRARIES} - ${PLUGIN_NAME} - ${pinocchio_LIBRARIES} - /usr/local/lib/libcnpy.so - z -) +if (pinocchio_FOUND) + # SYSTEM disables warnings from library headers + include_directories( + SYSTEM ${PINOCCHIO_INCLUDE_DIRS} + ) + + add_library(mcapi_utils mcapi_utils.cpp) + + # add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp) + # target_link_libraries(mcapi_povcdl_estimation + # mcapi_utils + # ${wolfcore_LIBRARIES} + # ${wolfimu_LIBRARIES} + # ${PLUGIN_NAME} + # ${multicontact-api_LIBRARIES} + # ${pinocchio_LIBRARIES} + # ) + # target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER}) + + + # add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp) + # target_link_libraries(mcapi_pov_estimation + # mcapi_utils + # ${wolfcore_LIBRARIES} + # ${wolfimu_LIBRARIES} + # ${PLUGIN_NAME} + # ${multicontact-api_LIBRARIES} + # ${pinocchio_LIBRARIES} + # ) + # target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER}) + + add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp) + target_link_libraries(solo_real_povcdl_estimation + mcapi_utils + ${wolfcore_LIBRARIES} + ${wolfimu_LIBRARIES} + ${PLUGIN_NAME} + ${pinocchio_LIBRARIES} + /usr/local/lib/libcnpy.so + z + ) + + add_executable(solo_real_pov_estimation solo_real_pov_estimation.cpp) + target_link_libraries(solo_real_pov_estimation + mcapi_utils + ${wolfcore_LIBRARIES} + ${wolfimu_LIBRARIES} + ${PLUGIN_NAME} + ${pinocchio_LIBRARIES} + /usr/local/lib/libcnpy.so + z + ) + + add_executable(solo_mocap_imu solo_mocap_imu.cpp) + target_link_libraries(solo_mocap_imu + ${wolfcore_LIBRARIES} + ${wolfimu_LIBRARIES} + ${PLUGIN_NAME} + ${pinocchio_LIBRARIES} + /usr/local/lib/libcnpy.so + z + ) +endif() # add_executable(test_cnpy test_cnpy.cpp) # target_link_libraries(test_cnpy diff --git a/demos/eigenmvn.h b/demos/eigenmvn.h index 669cc0494aa11c4349d608f7c7b0741b33186ac5..ca871ae838a86541b5242d2b2437569650163e53 100644 --- a/demos/eigenmvn.h +++ b/demos/eigenmvn.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * Multivariate Normal distribution sampling using C++11 and Eigen matrices. * @@ -132,4 +153,4 @@ namespace Eigen { } }; // end class EigenMultivariateNormal } // end namespace Eigen -#endif \ No newline at end of file +#endif diff --git a/demos/mcapi_pov_estimation.cpp b/demos/mcapi_pov_estimation.cpp index 9b88d2d9e3af75337074119d3fd28d9c82de6371..b465845c1c6b6c75d596dff953f0fd287a975768 100644 --- a/demos/mcapi_pov_estimation.cpp +++ b/demos/mcapi_pov_estimation.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include <iostream> // #include <random> #include <yaml-cpp/yaml.h> @@ -430,7 +451,7 @@ int main (int argc, char **argv) { TimeStamp t0(t_arr[0]); VectorComposite x_origin("POV", {p_ob_gtr_v[0], q_ob_gtr_v[0], v_ob_gtr_v[0]}); VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()}); - FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0, 0.0005); + FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0); proc_imu->setOrigin(KF1); proc_legodom->setOrigin(KF1); @@ -454,7 +475,7 @@ int main (int argc, char **argv) { std::vector<Vector3d> v_ob_fbk_v; ////////////////////////////////////////// - unsigned int nb_kf = problem->getTrajectory()->getFrameMap().size(); + unsigned int nb_kf = problem->getTrajectory()->size(); for (unsigned int i=0; i < t_arr.size(); i++){ // TimeStamp ts(t_arr[i]+dt); // works best with tsid trajectories TimeStamp ts(t_arr[i]); // works best with pyb trajectories @@ -522,9 +543,9 @@ int main (int argc, char **argv) { } // if new KF add - // unsigned int new_kf_nb = problem->getTrajectory()->getFrameMap().size(); + // unsigned int new_kf_nb = problem->getTrajectory()->size(); // if (new_kf_nb > nb_kf){ - // auto last_kf = problem->getTrajectory()->getFrameMap().rbegin()->second; + // auto last_kf = problem->getTrajectory()->getLastFrame(); // nb_kf = new_kf_nb; // // ADD ABSOLUTE FACTOR (GPS LIKE) // } @@ -643,7 +664,8 @@ int main (int argc, char **argv) { VectorComposite kf_state; CaptureBasePtr cap_imu; VectorComposite bi_bias_est; - for (auto& elt: problem->getTrajectory()->getFrameMap()){ + auto frame_map = problem->getTrajectory()->getFrameMap(); + for (auto& elt : frame_map){ auto kf = elt.second; kf_state = kf->getState(); cap_imu = kf->getCaptureOf(sen_imu); diff --git a/demos/mcapi_povcdl_estimation.cpp b/demos/mcapi_povcdl_estimation.cpp index 7d5b0948d954c6518f67c516695185054073ebcc..83111ab6ae729acabed35baccfdf4d567cd4b798 100644 --- a/demos/mcapi_povcdl_estimation.cpp +++ b/demos/mcapi_povcdl_estimation.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include <iostream> // #include <random> #include <yaml-cpp/yaml.h> @@ -491,7 +512,7 @@ int main (int argc, char **argv) { // SETPRIOR RETRO-ENGINEERING // We are not using setPrior because of processors initial captures problems so we have to // - Manually create the first KF and its pose and velocity priors - // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later) + // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later) TimeStamp t0(t_arr[0]); VectorXd x_origin; x_origin.resize(19); x_origin << p_ob_gtr_v[0], q_ob_gtr_v[0], v_ob_gtr_v[0], c_traj_arr[0], dc_traj_arr[0], L_traj_arr[0]; @@ -841,7 +862,8 @@ int main (int argc, char **argv) { VectorComposite bp_bias_est; CaptureBasePtr cap_imu; VectorComposite bi_bias_est; - for (auto& elt: problem->getTrajectory()->getFrameMap()){ + for (auto elt : problem->getTrajectory()->getFrameMap()) + { auto kf = elt.second; kf_state = kf->getState(); cap_ikin = kf->getCaptureOf(sen_ikin); diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp index d9de7b04b13d36549484f7ef67b086cd49ab16ff..d893b4669ce2514f3f15b3bf73500f243923e19c 100644 --- a/demos/mcapi_utils.cpp +++ b/demos/mcapi_utils.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "mcapi_utils.h" diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h index 01b551b1153ef0d88c2f1d88a901d065f40023b8..c62c4026a1dac41733350f2b96fb554285f30715 100644 --- a/demos/mcapi_utils.h +++ b/demos/mcapi_utils.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include <vector> #include "Eigen/Dense" #include "pinocchio/algorithm/crba.hpp" @@ -52,4 +73,4 @@ Matrix<double, 6, 1> contact_force_to_wrench(const std::vector<Vector3d>& contac Matrix3d compute_Iw(pinocchio::Model& model, pinocchio::Data& data, VectorXd& q_static, - Vector3d& b_p_bc); \ No newline at end of file + Vector3d& b_p_bc); diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp index 2c1870e02af803af36326cd4f81280113d59d36a..5ce4f7e334d2bf719897cd62a1d25cd4b100092f 100644 --- a/demos/solo_imu_kine.cpp +++ b/demos/solo_imu_kine.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include <iostream> #include <fstream> @@ -282,12 +303,12 @@ int main (int argc, char **argv) { // SETPRIOR RETRO-ENGINEERING // We are not using setPrior because of processors initial captures problems so we have to // - Manually create the first KF and its pose and velocity priors - // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later) + // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later) VectorComposite x_origin("POV", {w_p_wm, w_qvec_wm, Vector3d::Zero()}); VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()}); - // FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0, 0.0005); - FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0, 0.0005); // if mocap used + // FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0); + FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0); // if mocap used proc_imu->setOrigin(KF1); @@ -471,11 +492,11 @@ int main (int argc, char **argv) { // } // solve every new KF - if (problem->getTrajectory()->getFrameMap().size() > nb_kf ){ + if (problem->getTrajectory()->size() > nb_kf ){ std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF); std::cout << ts << " "; std::cout << report << std::endl; - nb_kf = problem->getTrajectory()->getFrameMap().size(); + nb_kf = problem->getTrajectory()->size(); } // Store current state estimation @@ -551,7 +572,7 @@ int main (int argc, char **argv) { // Compute Covariances - unsigned int Nkf = problem->getTrajectory()->getFrameMap().size(); + unsigned int Nkf = problem->getTrajectory()->size(); double* tkf_carr = new double[1*Nkf]; double* Qp_carr = new double[3*Nkf]; double* Qo_carr = new double[3*Nkf]; @@ -562,8 +583,9 @@ int main (int argc, char **argv) { double* fac_imu_err_carr = new double[9*Nkf]; double* fac_pose_err_carr = new double[6*Nkf]; int i = 0; - for (auto& elt: problem->getTrajectory()->getFrameMap()){ - std::cout << "Traj " << i << "/" << problem->getTrajectory()->getFrameMap().size() << std::endl; + for (auto elt: problem->getTrajectory()->getFrameMap()) + { + std::cout << "Traj " << i << "/" << problem->getTrajectory()->size() << std::endl; tkf_carr[i] = elt.first.get(); auto kf = elt.second; VectorComposite kf_state = kf->getState(); diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp index e8989d6356d6b85a466c754fce59f22586c2f215..d370ba9f1a1796b6c37ce51ca56d98608cb6cf07 100644 --- a/demos/solo_imu_mocap.cpp +++ b/demos/solo_imu_mocap.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include <iostream> #include <fstream> @@ -215,7 +236,7 @@ int main (int argc, char **argv) { VectorComposite x_origin("POV", {w_p_wi_init, w_qvec_wm, Vector3d::Zero()}); VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()}); // FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0, 0.0005); - FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0, time_tolerance_mocap); // if mocap used + FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0); // if mocap used proc_imu->setOrigin(KF1); @@ -300,13 +321,16 @@ int main (int argc, char **argv) { // solve every new KF - if (problem->getTrajectory()->getFrameMap().size() > nb_kf ){ + if (problem->getTrajectory()->size() > nb_kf ) + { std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF); std::cout << ts << " "; std::cout << report << std::endl; // recover covariances at this point - auto kf_last = problem->getTrajectory()->getFrameMap().rbegin()->second; + auto kf_last = problem->getTrajectory()->getLastFrame(); + + CaptureBasePtr cap_imu = kf_last->getCaptureOf(sen_imu); // compute covariances of KF and capture stateblocks @@ -427,7 +451,7 @@ int main (int argc, char **argv) { // Compute Covariances - unsigned int Nkf = problem->getTrajectory()->getFrameMap().size(); + unsigned int Nkf = problem->getTrajectory()->size(); double* tkf_carr = new double[1*Nkf]; double* Qp_carr = new double[3*Nkf]; double* Qo_carr = new double[3*Nkf]; @@ -445,8 +469,9 @@ int main (int argc, char **argv) { double* fac_imu_err_carr = new double[9*Nkf]; double* fac_pose_err_carr = new double[6*Nkf]; int i = 0; - for (auto& elt: problem->getTrajectory()->getFrameMap()){ - std::cout << "Traj " << i << "/" << problem->getTrajectory()->getFrameMap().size() << std::endl; + for (auto elt: problem->getTrajectory()->getFrameMap()) + { + std::cout << "Traj " << i << "/" << problem->getTrajectory()->size() << std::endl; tkf_carr[i] = elt.first.get(); auto kf = elt.second; VectorComposite kf_state = kf->getState(); diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp index e83f89ecec2afdcf7a8de772091ce757d1052855..aee06204b9d7dc68151c79f7971f090003205c88 100644 --- a/demos/solo_real_povcdl_estimation.cpp +++ b/demos/solo_real_povcdl_estimation.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include <iostream> #include <fstream> // #include <random> @@ -293,7 +314,7 @@ int main (int argc, char **argv) { // SETPRIOR RETRO-ENGINEERING // We are not using setPrior because of processors initial captures problems so we have to // - Manually create the first KF and its pose and velocity priors - // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later) + // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later) MatrixXd P_origin(9,9); P_origin.setIdentity(); P_origin.block<3,3>(0,0) = pow(std_prior_p, 2) * Matrix3d::Identity(); @@ -563,12 +584,12 @@ int main (int argc, char **argv) { // add zero vel artificial factor - if (problem->getTrajectory()->getFrameMap().size() > nb_kf){ - auto kf_pair = problem->getTrajectory()->getFrameMap().rbegin(); - std::cout << "New KF " << kf_pair->first << std::endl; - auto kf = kf_pair->second; + if (problem->getTrajectory()->size() > nb_kf) + { + auto kf = problem->getTrajectory()->getLastFrame(); + std::cout << "New KF " << kf->getTimeStamp() << std::endl; - // CaptureBasePtr capV0 = CaptureBase::emplace<CaptureBase>(kf, "Vel0", kf_pair->first); + // CaptureBasePtr capV0 = CaptureBase::emplace<CaptureBase>(kf, "Vel0", kf->getTimeStamp()); // FeatureBasePtr featV0 = FeatureBase::emplace<FeatureBase>(capV0, "Vel0", Vector3d::Zero(), 0.00001*Matrix3d::Ones()); // FactorBasePtr facV0 = FactorBase::emplace<FactorBlockAbsolute>(featV0, featV0, kf->getV(), nullptr, false); @@ -707,7 +728,8 @@ int main (int argc, char **argv) { VectorComposite bp_bias_est; CaptureBasePtr cap_imu; VectorComposite bi_bias_est; - for (auto& elt: problem->getTrajectory()->getFrameMap()){ + for (auto elt: problem->getTrajectory()->getFrameMap()) + { auto kf = elt.second; kf_state = kf->getState(); cap_ikin = kf->getCaptureOf(sen_ikin); diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h index de4efd7ed6908309bc06c6d41928e344069b03ba..81db7bf05f90fc9048a907253b477b73f8c748a5 100644 --- a/include/bodydynamics/capture/capture_force_torque_preint.h +++ b/include/bodydynamics/capture/capture_force_torque_preint.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef CAPTURE_FORCE_TORQUE_PREINT_H #define CAPTURE_FORCE_TORQUE_PREINT_H @@ -41,7 +62,9 @@ class CaptureForceTorquePreint : public CaptureMotion ~CaptureForceTorquePreint() override; - CaptureBasePtr getIkinCaptureOther(){ return cap_ikin_other_; } + CaptureBaseConstPtr getIkinCaptureOther() const { return cap_ikin_other_;} + CaptureBasePtr getIkinCaptureOther(){ return cap_ikin_other_;} + CaptureBaseConstPtr getGyroCaptureOther() const { return cap_gyro_other_;} CaptureBasePtr getGyroCaptureOther(){ return cap_gyro_other_;} private: diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h index 012a19c6c77dc23e16074cf2e7896ba439d31cf1..70baff8f311f6fc17d19305559c959d62ef079a2 100644 --- a/include/bodydynamics/capture/capture_inertial_kinematics.h +++ b/include/bodydynamics/capture/capture_inertial_kinematics.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef CAPTURE_INERTIAL_KINEMATICS_H #define CAPTURE_INERTIAL_KINEMATICS_H diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h index 76a7b2e6876a1e99d9d1a790e943c745f598c432..b1d8652e0f3f9bd8c0dbbb001bc10714fa3cf8b9 100644 --- a/include/bodydynamics/capture/capture_leg_odom.h +++ b/include/bodydynamics/capture/capture_leg_odom.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_capture_leg_odom.h * diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h index 7918be2de2d581854a4aad578ba84262fee72b1f..1e57c0cdd71d3cc2cd85f196a51e16df57dce844 100644 --- a/include/bodydynamics/capture/capture_point_feet_nomove.h +++ b/include/bodydynamics/capture/capture_point_feet_nomove.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * * Created on: Oct 23, 2020 diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h index 39ccacc20bc6086214f4963cb1fa1e4572f2da60..958398a325c0e6c77fd5b70a2cabb4497fec746b 100644 --- a/include/bodydynamics/factor/factor_force_torque.h +++ b/include/bodydynamics/factor/factor_force_torque.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file factor_force_torque.h * @@ -58,7 +79,7 @@ class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 9, 3,3,3, 3,3 const T* const _qkm, T* _res) const; - void computeJac(const FeatureForceTorquePtr& _feat, + void computeJac(const FeatureForceTorqueConstPtr& _feat, const double& _mass, const double& _dt, const Eigen::VectorXd& _bp, @@ -128,25 +149,24 @@ void FactorForceTorque::retrieveMeasurementCovariance(const FeatureForceTorquePt } -void FactorForceTorque::computeJac(const FeatureForceTorquePtr& _feat, +void FactorForceTorque::computeJac(const FeatureForceTorqueConstPtr& _feat, const double& _mass, const double& _dt, const Eigen::VectorXd& _bp, Eigen::Matrix<double, 9, 15>& _J_ny_nz) const { _J_ny_nz.setZero(); - FeatureForceTorquePtr feat = std::static_pointer_cast<FeatureForceTorque>(_feat); // Measurements retrieval - Eigen::Map<const Eigen::Vector3d> f1 (feat->getForcesMeas().data()); - Eigen::Map<const Eigen::Vector3d> f2 (feat->getForcesMeas().data() + 3 ); - Eigen::Map<const Eigen::Vector3d> tau1(feat->getTorquesMeas().data()); - Eigen::Map<const Eigen::Vector3d> tau2(feat->getTorquesMeas().data() + 3 ); - Eigen::Map<const Eigen::Vector3d> pbl1(feat->getKinMeas().data()); - Eigen::Map<const Eigen::Vector3d> pbl2(feat->getKinMeas().data() + 3 ); - Eigen::Map<const Eigen::Quaterniond> bql1(feat->getKinMeas().data() + 6); - Eigen::Map<const Eigen::Quaterniond> bql2(feat->getKinMeas().data() + 10); - Eigen::Map<const Eigen::Vector3d> pbc (feat->getPbcMeas().data()); + Eigen::Map<const Eigen::Vector3d> f1 (_feat->getForcesMeas().data()); + Eigen::Map<const Eigen::Vector3d> f2 (_feat->getForcesMeas().data() + 3 ); + Eigen::Map<const Eigen::Vector3d> tau1(_feat->getTorquesMeas().data()); + Eigen::Map<const Eigen::Vector3d> tau2(_feat->getTorquesMeas().data() + 3 ); + Eigen::Map<const Eigen::Vector3d> pbl1(_feat->getKinMeas().data()); + Eigen::Map<const Eigen::Vector3d> pbl2(_feat->getKinMeas().data() + 3 ); + Eigen::Map<const Eigen::Quaterniond> bql1(_feat->getKinMeas().data() + 6); + Eigen::Map<const Eigen::Quaterniond> bql2(_feat->getKinMeas().data() + 10); + Eigen::Map<const Eigen::Vector3d> pbc (_feat->getPbcMeas().data()); Eigen::Matrix3d bRl1 = q2R(bql1); Eigen::Matrix3d bRl2 = q2R(bql2); @@ -205,7 +225,7 @@ bool FactorForceTorque::operator () ( const T* const _qkm, T* _res) const { - FeatureForceTorquePtr feat = std::static_pointer_cast<FeatureForceTorque>(getFeature()); + auto feat = std::static_pointer_cast<const FeatureForceTorque>(getFeature()); // State variables instanciation Eigen::Map<const Eigen::Matrix<T,3,1> > ck(_ck); diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h index 05b2e571fa5f59a9f328adcfd53c82d7501662de..841bb63d6f94ffa9dc4ec115e5f4a3c3dd06d20a 100644 --- a/include/bodydynamics/factor/factor_force_torque_preint.h +++ b/include/bodydynamics/factor/factor_force_torque_preint.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef FACTOR_FORCE_TORQUE_PREINT_THETA_H_ #define FACTOR_FORCE_TORQUE_PREINT_THETA_H_ diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h index 0352a13bf2b4e5ae27b1c309d1a7b8fdb560c97e..ff824e20b8673da4d6de79afa06e80da6cd2607e 100644 --- a/include/bodydynamics/factor/factor_inertial_kinematics.h +++ b/include/bodydynamics/factor/factor_inertial_kinematics.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file factor_inertial_kinematics.h * @@ -137,7 +158,7 @@ bool FactorInertialKinematics::operator () ( Map<Matrix<T,9,1> > res(_res); - FeatureInertialKinematicsPtr feat = std::static_pointer_cast<FeatureInertialKinematics>(getFeature()); + auto feat = std::static_pointer_cast<const FeatureInertialKinematics>(getFeature()); // Measurements retrieval Map<const Vector3d> pBC_m(getMeasurement().data() ); // B_p_BC diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h index a9897ec348bedce98ba502895253cc068630e530..58e7804f43b3c3e1ffe0de8e85711c3f3d595e06 100644 --- a/include/bodydynamics/factor/factor_point_feet_nomove.h +++ b/include/bodydynamics/factor/factor_point_feet_nomove.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file factor_point_feet_nomove.h * diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h index 75318166d754bafa5240a618681210fd192378b9..14594821f3171f7628199e4b3b5f76026f4f7f63 100644 --- a/include/bodydynamics/feature/feature_force_torque.h +++ b/include/bodydynamics/feature/feature_force_torque.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef FEATURE_FORCE_TORQUE_H_ #define FEATURE_FORCE_TORQUE_H_ @@ -29,19 +50,19 @@ class FeatureForceTorque : public FeatureBase ~FeatureForceTorque() override; - const double & getDt(){return dt_;} - const double & getMass(){return mass_;} + const double & getDt() const {return dt_;} + const double & getMass() const {return mass_;} void setDt(const double & _dt){dt_ = _dt;} void setMass(const double & _mass){mass_ = _mass;} - const Eigen::Vector6d& getForcesMeas(){return forces_meas_;} - const Eigen::Vector6d& getTorquesMeas(){return torques_meas_;} - const Eigen::Vector3d& getPbcMeas(){return pbc_meas_;} - const Eigen::Matrix<double,14,1>& getKinMeas(){return kin_meas_;} - const Eigen::Matrix6d& getCovForcesMeas(){return cov_forces_meas_;} - const Eigen::Matrix6d& getCovTorquesMeas(){return cov_torques_meas_;} - const Eigen::Matrix3d& getCovPbcMeas(){return cov_pbc_meas_;} - const Eigen::Matrix<double,14,14>& getCovKinMeas(){return cov_kin_meas_;} + const Eigen::Vector6d& getForcesMeas() const {return forces_meas_;} + const Eigen::Vector6d& getTorquesMeas() const {return torques_meas_;} + const Eigen::Vector3d& getPbcMeas() const {return pbc_meas_;} + const Eigen::Matrix<double,14,1>& getKinMeas() const {return kin_meas_;} + const Eigen::Matrix6d& getCovForcesMeas() const {return cov_forces_meas_;} + const Eigen::Matrix6d& getCovTorquesMeas() const {return cov_torques_meas_;} + const Eigen::Matrix3d& getCovPbcMeas() const {return cov_pbc_meas_;} + const Eigen::Matrix<double,14,14>& getCovKinMeas() const {return cov_kin_meas_;} void setForcesMeas(const Eigen::Vector6d& _forces_meas){forces_meas_ = _forces_meas;} void setTorquesMeas(const Eigen::Vector6d& _torques_meas){torques_meas_ = _torques_meas;} diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h index ffdcbd0e5c25b90438ef0204d9f4ec299f705cd4..9a03d2a73e668123b29dd948c7988795ea45f9cf 100644 --- a/include/bodydynamics/feature/feature_force_torque_preint.h +++ b/include/bodydynamics/feature/feature_force_torque_preint.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef FEATURE_FORCE_TORQUE_PREINT_H_ #define FEATURE_FORCE_TORQUE_PREINT_H_ diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h index bc281bdb3376e7c06751a26c6b853afbeff68405..98f03fc3e948e1c5feeaf399e3bdf10297a2b1a6 100644 --- a/include/bodydynamics/feature/feature_inertial_kinematics.h +++ b/include/bodydynamics/feature/feature_inertial_kinematics.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef FEATURE_INERTIAL_KINEMATICS_H_ #define FEATURE_INERTIAL_KINEMATICS_H_ @@ -22,8 +43,8 @@ class FeatureInertialKinematics : public FeatureBase ~FeatureInertialKinematics() override = default; - const Eigen::Matrix3d & getBIq(){return BIq_;} - const Eigen::Vector3d & getBLcm(){return BLcm_;} + const Eigen::Matrix3d & getBIq() const {return BIq_;} + const Eigen::Vector3d & getBLcm() const {return BLcm_;} void setBIq(const Eigen::Matrix3d & _BIq){BIq_ = _BIq;} void setBLcm(const Eigen::Vector3d & _BLcm){BLcm_ = _BLcm;} diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h index 56bfe16899d21ca3265ed4da4d20de1ec92c1ef0..fdc3d3a8034f5fa4372b0b0796b27b60ce889eb5 100644 --- a/include/bodydynamics/math/force_torque_delta_tools.h +++ b/include/bodydynamics/math/force_torque_delta_tools.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /* * imu_tools.h * diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h index cd38fb90ffa4ad84d66519a73bfd0f771787cd08..6cd089107cfebd55fad2a51ff1b6cf5eddb0b036 100644 --- a/include/bodydynamics/processor/processor_force_torque_preint.h +++ b/include/bodydynamics/processor/processor_force_torque_preint.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef PROCESSOR_FORCE_TORQUE_PREINT_H #define PROCESSOR_FORCE_TORQUE_PREINT_H @@ -71,7 +92,7 @@ class ProcessorForceTorquePreint : public ProcessorMotion{ Eigen::VectorXd deltaZero() const override; Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint, const Eigen::VectorXd& delta_step) const override; - VectorXd getCalibration (const CaptureBasePtr _capture = nullptr) const override; + VectorXd getCalibration (const CaptureBaseConstPtr _capture = nullptr) const override; void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override; bool voteForKeyFrame() const override; @@ -105,13 +126,13 @@ namespace wolf{ inline void ProcessorForceTorquePreint::configure(SensorBasePtr _sensor) { - sensor_ikin_ = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_ikin_name); - sensor_angvel_ = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_angvel_name); + sensor_ikin_ = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_ikin_name); + sensor_angvel_ = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_angvel_name); }; inline Eigen::VectorXd ProcessorForceTorquePreint::deltaZero() const { - return (Eigen::VectorXd(13) << 0,0,0, 0,0,0, 0,0,0, 0,0,0,1 ).finished(); // p, q, v + return (Eigen::VectorXd(13) << 0,0,0, 0,0,0, 0,0,0, 0,0,0,1 ).finished(); // com, com vel, ang momentum, orientation } } // namespace wolf diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h index fcdc050cb2aef10c77b0755a81694ecbd852663a..468fd9fa27c9b1983b4723f6938c0651632d8374 100644 --- a/include/bodydynamics/processor/processor_inertial_kinematics.h +++ b/include/bodydynamics/processor/processor_inertial_kinematics.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef PROCESSOR_INERTIAL_KINEMATICS_H #define PROCESSOR_INERTIAL_KINEMATICS_H @@ -51,9 +72,9 @@ class ProcessorInertialKinematics : public ProcessorBase{ bool createInertialKinematicsFactor(CaptureInertialKinematicsPtr _cap_ikin, CaptureBasePtr _cap_angvel, CaptureBasePtr _cap_ikin_origin); void processCapture(CaptureBasePtr _incoming) override; - void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override; + void processKeyFrame(FrameBasePtr _keyframe_ptr) override; bool triggerInCapture(CaptureBasePtr) const override; - bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override; + bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const override; bool storeKeyFrame(FrameBasePtr) override; bool storeCapture(CaptureBasePtr) override; bool voteForKeyFrame() const override; @@ -66,8 +87,7 @@ class ProcessorInertialKinematics : public ProcessorBase{ -inline bool ProcessorInertialKinematics::triggerInKeyFrame(FrameBasePtr _keyframe_ptr, - const double& _time_tolerance) const +inline bool ProcessorInertialKinematics::triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const { return false; } @@ -92,7 +112,7 @@ inline bool ProcessorInertialKinematics::voteForKeyFrame() const return false; } -inline void ProcessorInertialKinematics::processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) +inline void ProcessorInertialKinematics::processKeyFrame(FrameBasePtr _keyframe_ptr) { } diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h index b1be5f547e0721c3783a26b765cf8c66a43b44d3..49c40be86b331397416bc8bf806aac4a4b6f9419 100644 --- a/include/bodydynamics/processor/processor_point_feet_nomove.h +++ b/include/bodydynamics/processor/processor_point_feet_nomove.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef PROCESSOR_POINT_FEET_NOMOVE_H #define PROCESSOR_POINT_FEET_NOMOVE_H @@ -40,9 +61,9 @@ class ProcessorPointFeetNomove : public ProcessorBase{ bool createPointFeetNomoveFactor(CapturePointFeetNomovePtr _cap_pfnomove, CaptureBasePtr _cap_angvel, CaptureBasePtr _cap_pfnomove_origin); void processCapture(CaptureBasePtr _incoming) override; - void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override; + void processKeyFrame(FrameBasePtr _keyframe_ptr) override; bool triggerInCapture(CaptureBasePtr) const override; - bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override; + bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const override; bool storeKeyFrame(FrameBasePtr) override; bool storeCapture(CaptureBasePtr) override; bool voteForKeyFrame() const override; @@ -56,8 +77,7 @@ class ProcessorPointFeetNomove : public ProcessorBase{ -inline bool ProcessorPointFeetNomove::triggerInKeyFrame(FrameBasePtr _keyframe_ptr, - const double& _time_tolerance) const +inline bool ProcessorPointFeetNomove::triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const { return true; } diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h index 761ba5c99ba408954d6ef056ab5d158f2b01fd50..eea790dd1b52e104b730e9a7bd20a4d0f52a31af 100644 --- a/include/bodydynamics/sensor/sensor_force_torque.h +++ b/include/bodydynamics/sensor/sensor_force_torque.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef SENSOR_FORCE_TORQUE_H #define SENSOR_FORCE_TORQUE_H diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h index 73c1832a3ac5e18dddd00aa4504f7bcaa94d0855..76e74adc98c6934efae76c27c4c0efea6527db3e 100644 --- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h +++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef SENSOR_INERTIAL_KINEMATICS_H #define SENSOR_INERTIAL_KINEMATICS_H diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h index 756668e55d7f5fee49612cc4e6d9bceb1e0f5702..7f58ad65e96d1ca4c249cdd23a4f8e88b03f8060 100644 --- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h +++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #ifndef SENSOR_POINT_FEET_NOMOVE_H #define SENSOR_POINT_FEET_NOMOVE_H diff --git a/license_header_2022.txt b/license_header_2022.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c987025f9dba3e7af993051b9bdf4b5ff400e0d --- /dev/null +++ b/license_header_2022.txt @@ -0,0 +1,17 @@ +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. diff --git a/src/capture/capture_force_torque_preint.cpp b/src/capture/capture_force_torque_preint.cpp index 2b5f8cc32b26a14579bb8c73c030bfdc94147b60..83e145e4b85a4895a81dce2251fcddd10681460d 100644 --- a/src/capture/capture_force_torque_preint.cpp +++ b/src/capture/capture_force_torque_preint.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/capture/capture_inertial_kinematics.h" #include "bodydynamics/capture/capture_force_torque_preint.h" #include "bodydynamics/sensor/sensor_force_torque.h" diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp index 1d5148ac16390e6d66a3fdadb27c2eafc3661ec3..3640f6b966c49cde3ed4fb8f3db94856fbf14bc7 100644 --- a/src/capture/capture_inertial_kinematics.cpp +++ b/src/capture/capture_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "core/capture/capture_base.h" #include "bodydynamics/capture/capture_inertial_kinematics.h" #include "bodydynamics/sensor/sensor_inertial_kinematics.h" diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp index 60f34646586543171459595c70a673f9a1ad01ff..69336fa53b1e686d3434bf3a0e821f0315f844c1 100644 --- a/src/capture/capture_leg_odom.cpp +++ b/src/capture/capture_leg_odom.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file capture_leg_odom.cpp * diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp index f242a4fff87088da5058addf0e435d7b9ce2a30a..3d4dca45ced860903bfdfabc3f4a86e088b63859 100644 --- a/src/capture/capture_point_feet_nomove.cpp +++ b/src/capture/capture_point_feet_nomove.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file capture_point_feet_nomove.cpp * diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp index 21b7ef66fe16a5f6a173d5c91e5fb58ca2e56641..83c12548fd923e7621b56465ecedbcc12b673500 100644 --- a/src/feature/feature_force_torque.cpp +++ b/src/feature/feature_force_torque.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/feature/feature_force_torque.h" namespace wolf { @@ -30,4 +51,4 @@ FeatureForceTorque::FeatureForceTorque( FeatureForceTorque::~FeatureForceTorque(){} -} // namespace wolf \ No newline at end of file +} // namespace wolf diff --git a/src/feature/feature_force_torque_preint.cpp b/src/feature/feature_force_torque_preint.cpp index 62e73e23ec606f4e57c48ce4d0932f52d41de6e7..1a21081d827843645a62c75508b3ceda10794c71 100644 --- a/src/feature/feature_force_torque_preint.cpp +++ b/src/feature/feature_force_torque_preint.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/feature/feature_force_torque_preint.h" namespace wolf { diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp index e7edac77fde95d543fef6841fcf16a55457ff098..8f80b0ddc96b0029211ed5b66940c1a5af6db117 100644 --- a/src/feature/feature_inertial_kinematics.cpp +++ b/src/feature/feature_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/feature/feature_inertial_kinematics.h" diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp index 17cb798053d93f941e1e33da26516a00ff486c45..1b84f786077a0f65ee3cc944bf8ebe4f54511499 100644 --- a/src/processor/processor_force_torque_preint.cpp +++ b/src/processor/processor_force_torque_preint.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- // wolf #include "bodydynamics/math/force_torque_delta_tools.h" #include "bodydynamics/capture/capture_force_torque_preint.h" @@ -25,11 +46,7 @@ ProcessorForceTorquePreint::ProcessorForceTorquePreint(ParamsProcessorForceTorqu dimc_(_params_motion_force_torque_preint->dimc) { - // Set constant parts of Jacobians - jacobian_delta_preint_.setIdentity(12,12); // delta composition / CURRENT delta - jacobian_delta_.setIdentity(12,12); // delta composition / PREVIOUS delta - jacobian_calib_.setZero(12,6); // delta preint / biases - unmeasured_perturbation_cov_ = pow(params_motion_force_torque_preint_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 12, 12>::Identity(); + // } ProcessorForceTorquePreint::~ProcessorForceTorquePreint() @@ -119,14 +136,14 @@ Eigen::VectorXd ProcessorForceTorquePreint::correctDelta (const Eigen::VectorXd& return bodydynamics::plus(delta_preint, delta_step); } -VectorXd ProcessorForceTorquePreint::getCalibration (const CaptureBasePtr _capture) const +VectorXd ProcessorForceTorquePreint::getCalibration (const CaptureBaseConstPtr _capture) const { VectorXd bias_vec(6); if (_capture) // access from capture is quicker { - CaptureForceTorquePreintPtr cap_ft(std::static_pointer_cast<CaptureForceTorquePreint>(_capture)); + auto cap_ft(std::static_pointer_cast<const CaptureForceTorquePreint>(_capture)); // get calib part from Ikin capture bias_vec.segment<3>(0) = cap_ft->getIkinCaptureOther()->getSensorIntrinsic()->getState(); @@ -194,7 +211,7 @@ void ProcessorForceTorquePreint::computeCurrentDelta( bodydynamics::debiasData(_data, _calib, nbc_, dimc_, body, jac_body_bias); MatrixXd jac_delta_body(12,data_size_-nbc_); - bodydynamics::body2delta(body, _dt, std::static_pointer_cast<SensorForceTorque>(getSensor())->getMass(), + bodydynamics::body2delta(body, _dt, std::static_pointer_cast<const SensorForceTorque>(getSensor())->getMass(), nbc_, dimc_, _delta, jac_delta_body); // Jacobians tested in bodydynamics_tools diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp index 5d3dfe78dbb520e9e0c9339a3201135ebe88c3b1..360ef7d654952c17a18dce633f53f9177e79e61d 100644 --- a/src/processor/processor_inertial_kinematics.cpp +++ b/src/processor/processor_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file processor_inertial_kinematics.cpp * @@ -32,11 +53,11 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture) } // nothing to do if any of the two buffer is empty - if(buffer_pack_kf_.empty()){ + if(buffer_frame_.empty()){ WOLF_DEBUG("PInertialKinematic: KF pack buffer empty, time ", _capture->getTimeStamp()); return; } - if(buffer_pack_kf_.empty()){ + if(buffer_frame_.empty()){ WOLF_DEBUG("PInertialKinematics: Capture buffer empty, time ", _capture->getTimeStamp()); return; } @@ -47,22 +68,21 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture) // done AFTER processCapture) // 1. get corresponding KF - FrameBasePtr kf; - auto buffer_pack_kf_it = buffer_pack_kf_.getContainer().begin(); + auto buffer_frame_it = buffer_frame_.getContainer().begin(); auto buffer_capture_it = buffer_capture_.getContainer().begin(); - auto sensor_angvel = getProblem()->getSensor(params_ikin_->sensor_angvel_name); - while ((buffer_pack_kf_it != buffer_pack_kf_.getContainer().end()) + auto sensor_angvel = getProblem()->findSensor(params_ikin_->sensor_angvel_name); + while ((buffer_frame_it != buffer_frame_.getContainer().end()) && (buffer_capture_it != buffer_capture_.getContainer().end())) { - bool time_ok = buffer_capture_.simpleCheckTimeTolerance(buffer_pack_kf_it->first, buffer_capture_it->first, buffer_pack_kf_it->second->time_tolerance); + bool time_ok = checkTimeTolerance(buffer_frame_it->first, buffer_capture_it->first); if (time_ok) { - CaptureBasePtr cap_angvel = buffer_pack_kf_it->second->key_frame->getCaptureOf(sensor_angvel); - auto min_ts = (buffer_pack_kf_it->first < buffer_capture_it->first) ? buffer_pack_kf_it->first : buffer_capture_it->first; + CaptureBasePtr cap_angvel = buffer_frame_it->second->getCaptureOf(sensor_angvel); + auto min_ts = (buffer_frame_it->first < buffer_capture_it->first) ? buffer_frame_it->first : buffer_capture_it->first; if (cap_angvel && cap_angvel->getStateBlock('I')){ // TODO: or only cap_angvel? // cast incoming capture to the InertialKinematics type, add it to the keyframe - auto kf = buffer_pack_kf_it->second->key_frame; + auto kf = buffer_frame_it->second; auto cap_ikin = std::static_pointer_cast<CaptureInertialKinematics>(buffer_capture_it->second); cap_ikin->link(kf); createInertialKinematicsFactor(cap_ikin, @@ -71,27 +91,27 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture) // update pointer to origin capture (the previous one attached to a KF) if we have created a new factor cap_origin_ptr_ = buffer_capture_it->second; buffer_capture_it++; - buffer_pack_kf_it++; + buffer_frame_it++; } else { // if time ok but no capture angvel yet, there is not gonna be any in the next KF of the buffer break; buffer_capture_it++; - buffer_pack_kf_it++; + buffer_frame_it++; } //////////////// // remove everything before (Inclusive if equal) this timestamp -> the cap_angvel is yet to come - buffer_pack_kf_.removeUpTo(min_ts); + buffer_frame_.removeUpTo(min_ts); buffer_capture_.removeUpTo(min_ts); } else { // if a time difference between captures and KF pack, we increment the oldest iterator - if (buffer_capture_it->first < buffer_pack_kf_it->first){ + if (buffer_capture_it->first < buffer_frame_it->first){ buffer_capture_it++; } else { - buffer_pack_kf_it++; + buffer_frame_it++; } } } @@ -105,7 +125,7 @@ inline bool ProcessorInertialKinematics::createInertialKinematicsFactor(CaptureI Eigen::Matrix3d B_I_q = _cap_ikin->getBIq(); Eigen::Vector3d B_Lc_m = _cap_ikin->getBLcm(); auto sensor_ikin = std::static_pointer_cast<SensorInertialKinematics>(getSensor()); - auto sensor_angvel_base = getProblem()->getSensor(params_ikin_->sensor_angvel_name); + auto sensor_angvel_base = getProblem()->findSensor(params_ikin_->sensor_angvel_name); Eigen::Matrix3d Qp = pow(sensor_ikin->getPbcNoiseStd(), 2) * Eigen::Matrix3d::Identity(); Eigen::Matrix3d Qv = pow(sensor_ikin->getVbcNoiseStd(), 2) * Eigen::Matrix3d::Identity(); Eigen::Matrix3d Qw = sensor_angvel_base->getNoiseCov().bottomRightCorner<3,3>(); diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp index 517231ee027cd0db2e8a530e2df15ff2417a2bae..358ad06be77d987125dcd0341bbd10e62c6fdd78 100644 --- a/src/processor/processor_point_feet_nomove.cpp +++ b/src/processor/processor_point_feet_nomove.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file processor_point_feet_nomove.cpp * @@ -25,14 +46,14 @@ void ProcessorPointFeetNomove::configure(SensorBasePtr _sensor) void ProcessorPointFeetNomove::createFactorIfNecessary(){ auto sensor_pfnm = std::static_pointer_cast<SensorPointFeetNomove>(getSensor()); - while (buffer_pack_kf_.size() >= 2) + while (buffer_frame_.size() >= 2) { - auto kf1_it = buffer_pack_kf_.getContainer().begin(); + auto kf1_it = buffer_frame_.getContainer().begin(); auto kf2_it = std::next(kf1_it); TimeStamp t1 = kf1_it->first; TimeStamp t2 = kf2_it->first; - auto cap1_it = buffer_capture_.selectIterator(t1, kf1_it->second->time_tolerance); - auto cap2_it = buffer_capture_.selectIterator(t2, kf1_it->second->time_tolerance); + auto cap1_it = buffer_capture_.selectIterator(t1, getTimeTolerance()); + auto cap2_it = buffer_capture_.selectIterator(t2, getTimeTolerance()); // check that the first 2 KF have corresponding captures in the capture buffer // just quit and assume that you will someday have matching captures @@ -80,7 +101,7 @@ void ProcessorPointFeetNomove::createFactorIfNecessary(){ auto cap2 = std::static_pointer_cast<CapturePointFeetNomove>(cap2_it->second); // link (kind of arbitrarily) factor from KF1 to KF2 with a feature and capture on KF2 to mimic capture motion // however, this capture solely does not contain enough information to recreate the factor - cap2->link(kf2_it->second->key_frame); + cap2->link(kf2_it->second); auto kin_incontact_t2 = cap2->kin_incontact_; for (auto kin_pair1: kin_incontact_from_t1){ @@ -88,13 +109,13 @@ void ProcessorPointFeetNomove::createFactorIfNecessary(){ Vector6d meas; meas << kin_pair1.second, kin_pair2_it->second; FeatureBasePtr feat = FeatureBase::emplace<FeatureBase>(cap2, "PointFeet", meas, sensor_pfnm->getCovFootNomove()); - FactorPointFeetNomovePtr fac = FactorBase::emplace<FactorPointFeetNomove>(feat, feat, kf1_it->second->key_frame, nullptr, true); + FactorPointFeetNomovePtr fac = FactorBase::emplace<FactorPointFeetNomove>(feat, feat, kf1_it->second, nullptr, true); } } // Once the factors are created, remove kf1 and all the captures until ts 2 NOT INCLUDING the one at ts 2 since we need it for the next // Note: erase by range does not include the end range iterator - buffer_pack_kf_.getContainer().erase(buffer_pack_kf_.getContainer().begin(), kf2_it); // !! works only if getContainer returns a non const reference + buffer_frame_.getContainer().erase(buffer_frame_.getContainer().begin(), kf2_it); // !! works only if getContainer returns a non const reference buffer_capture_.getContainer().erase(buffer_capture_.getContainer().begin(), cap2_it); } } @@ -109,11 +130,11 @@ inline void ProcessorPointFeetNomove::processCapture(CaptureBasePtr _capture) return; } // nothing to do if any of the two buffer is empty - if(buffer_pack_kf_.empty()){ + if(buffer_frame_.empty()){ WOLF_DEBUG("PInertialKinematic: KF pack buffer empty, time ", _capture->getTimeStamp()); return; } - if(buffer_pack_kf_.empty()){ + if(buffer_frame_.empty()){ WOLF_DEBUG("PInertialKinematics: Capture buffer empty, time ", _capture->getTimeStamp()); return; } @@ -122,7 +143,7 @@ inline void ProcessorPointFeetNomove::processCapture(CaptureBasePtr _capture) } -inline void ProcessorPointFeetNomove::processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) +inline void ProcessorPointFeetNomove::processKeyFrame(FrameBasePtr _keyframe_ptr) { if (!_keyframe_ptr) { @@ -130,11 +151,11 @@ inline void ProcessorPointFeetNomove::processKeyFrame(FrameBasePtr _keyframe_ptr return; } // nothing to do if any of the two buffer is empty - if(buffer_pack_kf_.empty()){ + if(buffer_frame_.empty()){ WOLF_DEBUG("ProcessorPointFeetNomove: KF pack buffer empty, time ", _keyframe_ptr->getTimeStamp()); return; } - if(buffer_pack_kf_.empty()){ + if(buffer_frame_.empty()){ WOLF_DEBUG("ProcessorPointFeetNomove: Capture buffer empty, time ", _keyframe_ptr->getTimeStamp()); return; } diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp index 246a36f230991e2c85b932119686c8ecc6e563c8..76704952b7ce2d5971e1a181cd8a6f1ac797702b 100644 --- a/src/sensor/sensor_force_torque.cpp +++ b/src/sensor/sensor_force_torque.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/sensor/sensor_force_torque.h" #include "core/state_block/state_block.h" diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp index 86c908418f7d77e21f6ffc8ee3a31b1956822fbb..33369c5f00e3d7a65383e28cb0d65d102bcc4de7 100644 --- a/src/sensor/sensor_inertial_kinematics.cpp +++ b/src/sensor/sensor_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/sensor/sensor_inertial_kinematics.h" #include "core/state_block/state_block.h" diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp index 066b5546c5fb85b945562f260fc45cb35b3cb34e..6e5a48b7c058aa152ad4179404a061e7fe74dedd 100644 --- a/src/sensor/sensor_point_feet_nomove.cpp +++ b/src/sensor/sensor_point_feet_nomove.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- #include "bodydynamics/sensor/sensor_point_feet_nomove.h" namespace wolf { diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index e3cae6955696d1c1662956f25a6fa7d8ec13dcc4..60f23c1fe3f823d3c1c848365735928550d24095 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -22,7 +22,7 @@ add_subdirectory(gtest) # Include gtest directory. -include_directories(${GTEST_INCLUDE_DIRS} ${wolfimu_INCLUDE_DIRS}) +include_directories(${GTEST_INCLUDE_DIRS}) ################# ADD YOUR TESTS BELOW #################### # # @@ -38,10 +38,10 @@ wolf_add_gtest(gtest_feature_inertial_kinematics gtest_feature_inertial_kinemati target_link_libraries(gtest_feature_inertial_kinematics ${PLUGIN_NAME}) wolf_add_gtest(gtest_factor_inertial_kinematics gtest_factor_inertial_kinematics.cpp) -target_link_libraries(gtest_factor_inertial_kinematics ${PLUGIN_NAME} ${wolfimu_LIBRARIES}) +target_link_libraries(gtest_factor_inertial_kinematics ${PLUGIN_NAME}) wolf_add_gtest(gtest_factor_force_torque gtest_factor_force_torque.cpp) -target_link_libraries(gtest_factor_force_torque ${PLUGIN_NAME} ${wolfimu_LIBRARIES}) +target_link_libraries(gtest_factor_force_torque ${PLUGIN_NAME}) wolf_add_gtest(gtest_force_torque_delta_tools gtest_force_torque_delta_tools.cpp) target_link_libraries(gtest_force_torque_delta_tools ${PLUGIN_NAME}) @@ -49,11 +49,11 @@ target_link_libraries(gtest_force_torque_delta_tools ${PLUGIN_NAME}) # wolf_add_gtest(gtest_feature_force_torque_preint gtest_feature_force_torque_preint.cpp) # target_link_libraries(gtest_feature_force_torque_preint ${PLUGIN_NAME}) -wolf_add_gtest(gtest_processor_inertial_kinematics gtest_processor_inertial_kinematics.cpp) -target_link_libraries(gtest_processor_inertial_kinematics ${PLUGIN_NAME} ${wolfimu_LIBRARIES}) +# wolf_add_gtest(gtest_processor_inertial_kinematics gtest_processor_inertial_kinematics.cpp) +# target_link_libraries(gtest_processor_inertial_kinematics ${PLUGIN_NAME}) -wolf_add_gtest(gtest_processor_force_torque_preint gtest_processor_force_torque_preint.cpp) -target_link_libraries(gtest_processor_force_torque_preint ${PLUGIN_NAME} ${wolfimu_LIBRARIES}) +# wolf_add_gtest(gtest_processor_force_torque_preint gtest_processor_force_torque_preint.cpp) +# target_link_libraries(gtest_processor_force_torque_preint ${PLUGIN_NAME}) wolf_add_gtest(gtest_processor_point_feet_nomove gtest_processor_point_feet_nomove.cpp) target_link_libraries(gtest_processor_point_feet_nomove ${PLUGIN_NAME}) diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp index b3130fa123e7db927988bfe86848dae69e27b4ef..4402ddec609e504f7f5fc63e345eb2eda6778980 100644 --- a/test/gtest_capture_inertial_kinematics.cpp +++ b/test/gtest_capture_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_capture_inertial_kinematics.cpp * diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp index f0b8d69b310d8ef5179378eae63b471441b18172..6b19d8db8b85ff86254e84c373cb23a4616a7833 100644 --- a/test/gtest_capture_leg_odom.cpp +++ b/test/gtest_capture_leg_odom.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_capture_leg_odom.cpp * diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp index 12de186211a52c91ccbb85b087311556b9ebf359..16bd8d88a91abebcf2c00cdabb7bd163f44e2046 100644 --- a/test/gtest_factor_force_torque.cpp +++ b/test/gtest_factor_force_torque.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_factor_inertial_kinematics.cpp @@ -220,7 +241,7 @@ class FactorInertialKinematics_2KF : public testing::Test tA_.set(0); x_origin_ = VectorComposite("POV", {Vector3d(0,0,0), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)}); s_origin_ = VectorComposite("POV", {1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1)}); - KFA_ = problem_->setPriorFactor(x_origin_, s_origin_, tA_, 0.005); + KFA_ = problem_->setPriorFactor(x_origin_, s_origin_, tA_); // ADD THE STATEBLOCKS AND SET THEIR DEFAULT VALUES diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp index 8dfb0f528b5389f9703d2244ecac5529b4006f09..45034d63e1e90ab4c86172a8ba81a88317cd6bb4 100644 --- a/test/gtest_factor_inertial_kinematics.cpp +++ b/test/gtest_factor_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_factor_inertial_kinematics.cpp @@ -97,7 +118,7 @@ class FactorInertialKinematics_1KF : public testing::Test x_origin_ = VectorComposite("POV", {Vector3d(0,0,0), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)}); s_origin_ = VectorComposite("POV", {1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1)}); t_.set(0.0); - KF0_ = problem_->setPriorFactor(x_origin_, s_origin_, t_, 0.005); + KF0_ = problem_->setPriorFactor(x_origin_, s_origin_, t_); ParamsSensorInertialKinematicsPtr intr_ik = std::make_shared<ParamsSensorInertialKinematics>(); SIK_ = std::make_shared<SensorInertialKinematics>(Eigen::VectorXd(0), intr_ik); diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp index cd3098b377e38686206aed0338b5b28c74f92296..41d39701af5ac0ed184a8324ac88ba2faf51c6c1 100644 --- a/test/gtest_feature_inertial_kinematics.cpp +++ b/test/gtest_feature_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_feature_inertial_kinematics.cpp * diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp index 7c54c3dc912ae48db208b128107ef822e09f4bbe..e27553d54600d3538c6b87671ecfa276ace51182 100644 --- a/test/gtest_force_torque_delta_tools.cpp +++ b/test/gtest_force_torque_delta_tools.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /* * gtest_force_torque_delta_tools.cpp * diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp index 4c8d6ebedc692c824ba17bfa41c6a852e1831415..3465ea6187358cffe667af6a2dd326d279e31e47 100644 --- a/test/gtest_processor_force_torque_preint.cpp +++ b/test/gtest_processor_force_torque_preint.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_factor_force_torque_preint.cpp @@ -201,7 +222,7 @@ public: // SETPRIOR RETRO-ENGINEERING // We are not using setPrior because of processors initial captures problems so we have to // - Manually set problem prior - // - call setOrigin on processors isMotion + // - call setOrigin on processors MotionProvider setOriginState(); MatrixXd P_origin_ = pow(1e-3, 2) * MatrixXd::Identity(18,18); KF1_ = problem_->emplaceFrame( t0_, x_origin_); diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp index aa61bcf6cd7c7aefef635738028cf6d5030afa3b..bee3fb3c6127bdd35969b3d8bc3eb5d2659bd286 100644 --- a/test/gtest_processor_inertial_kinematics.cpp +++ b/test/gtest_processor_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_factor_inertial_kinematics.cpp @@ -102,7 +123,7 @@ class FactorInertialKinematics_2KF : public testing::Test VectorXd std_vec = pow(1e-3, 2)*VectorXd::Ones(18); VectorComposite prior(x_origin_, "POVCDL", {3,4,3,3,3,3}); VectorComposite prior_std(std_vec, "POVCDL", {3,3,3,3,3,3}); - problem_->setPriorFactor(prior, prior_std, t_, 0.001); + problem_->setPriorFactor(prior, prior_std, t_); KF0_ = problem_->getTrajectory()->getLastFrame(); // Set origin of processor Imu diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp index 46eac65e5d406bea477078112ebfd5e202488240..2a246f3a1292c1b96a74ffeecb7c1ec65bc66471 100644 --- a/test/gtest_processor_point_feet_nomove.cpp +++ b/test/gtest_processor_point_feet_nomove.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_processor_point_feet_nomove.cpp @@ -86,7 +107,7 @@ class PointFeetCaptures : public testing::Test VectorXd std_vec = pow(1e-3, 2)*VectorXd::Ones(6); VectorComposite prior(x_origin_, "PO", {3,4}); VectorComposite prior_std(std_vec, "PO", {3,3}); - problem_->setPriorFactor(prior, prior_std, 0.0, 0.001); + problem_->setPriorFactor(prior, prior_std, 0.0); KF0_ = problem_->getTrajectory()->getLastFrame(); // Simulate captures with 4 point feet @@ -137,10 +158,10 @@ TEST_F(PointFeetCaptures, process_all_capture_first) // factor creation due to keyFrameCallback FrameBasePtr KF1 = problem_->emplaceFrame(2.0, x_origin_); - proc_pfnm_base_->keyFrameCallback(KF1, 0.001); + proc_pfnm_base_->keyFrameCallback(KF1); FrameBasePtr KF2 = problem_->emplaceFrame(3.0, x_origin_); - proc_pfnm_base_->keyFrameCallback(KF2, 0.001); + proc_pfnm_base_->keyFrameCallback(KF2); problem_->print(4,1,1,1); } @@ -150,10 +171,10 @@ TEST_F(PointFeetCaptures, process_all_capture_last) { // First, get the key frames from the keyFrameCallback FrameBasePtr KF1 = problem_->emplaceFrame(2.0, x_origin_); - proc_pfnm_base_->keyFrameCallback(KF1, 0.001); + proc_pfnm_base_->keyFrameCallback(KF1); FrameBasePtr KF2 = problem_->emplaceFrame(3.0, x_origin_); - proc_pfnm_base_->keyFrameCallback(KF2, 0.001); + proc_pfnm_base_->keyFrameCallback(KF2); // Then process the captures CPF0_->process(); diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp index 2aceeb1bab69020ae1ff064003a19191fbf52d22..470b78a2f10e92f44e604b5c267de4497e882000 100644 --- a/test/gtest_sensor_force_torque.cpp +++ b/test/gtest_sensor_force_torque.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_sensor_force_torque.cpp * diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp index acad94ea11e65492f18610307eab9a2f7805e083..dc981d726049df6bb6145fe8d9ae3c6708a4499a 100644 --- a/test/gtest_sensor_inertial_kinematics.cpp +++ b/test/gtest_sensor_inertial_kinematics.cpp @@ -1,3 +1,24 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- /** * \file gtest_sensor_inertial_kinematics.cpp *