From 1e4e4177f45a8446b2dc60bacdb75a80dad74633 Mon Sep 17 00:00:00 2001 From: beston91 Date: Thu, 26 Mar 2020 22:25:29 -0400 Subject: [PATCH 1/6] added helper --- +acrobot/acrobot.m | 2 +- +acrobot/acrobot_state_estimator_helper.m | 87 ++++++++++++++++++++++ acrobot_sim.slx | Bin 52487 -> 52506 bytes 3 files changed, 88 insertions(+), 1 deletion(-) create mode 100644 +acrobot/acrobot_state_estimator_helper.m diff --git a/+acrobot/acrobot.m b/+acrobot/acrobot.m index c3b957a..60a0b45 100644 --- a/+acrobot/acrobot.m +++ b/+acrobot/acrobot.m @@ -324,7 +324,7 @@ function calcHolonomicCurves(obj, curve, optimize) rend = obj.calc_rend(obj.leg_length, obj.leg_length, qm(1), qm(2)); rend = rend + [cos(impact_angle) * 0.01; sin(impact_angle) * 0.01]; qm_pre = obj.calc_qd(obj.leg_length, obj.leg_length, rend(1), rend(2)); - w = unit(qm - qm_pre) * impact_velocity; + w = (qm - qm_pre)/norm(qm-qm_pre) * impact_velocity; % Post impact calculations De = obj.calc_De(obj.linertia(1), obj.linertia(2), obj.leg_length, obj.lcom(1), obj.lcom(2), obj.lmass(1), obj.lmass(2), qm(1), qm(2)); diff --git a/+acrobot/acrobot_state_estimator_helper.m b/+acrobot/acrobot_state_estimator_helper.m new file mode 100644 index 0000000..e62e8ca --- /dev/null +++ b/+acrobot/acrobot_state_estimator_helper.m @@ -0,0 +1,87 @@ +classdef acrobot_state_estimator_helper < matlab.System + % Public, tunable properties + properties + sample_time = 0.01; + end + + % Public, non-tunable properties + properties(Nontunable) + + end + + properties(DiscreteState) + + + end + + % Pre-computed constants + properties(Access = private) + step_count = 0; + + end + + methods + % Constructor + function obj = acrobot_state_estimator_helper(varargin) + % Support name-value pair arguments when constructing object + setProperties(obj,nargin,varargin{:}) + end + end + + methods(Access = public) + function setupImplPublic(obj) + % Perform one-time calculations, such as computing constants + end + end + + methods(Access = protected) + %% Common functions + function setupImpl(obj) + obj.setupImplPublic(); + end + + function [step, pos, acc] = stepImpl(obj, collision, pos1, acc1, pos2, acc2) + if (collision) + obj.step_count = obj.step_count + 1; + end + if mod(obj.step_count, 2) == 0 + pos = pos1; + acc = acc1; + else + pos = pos2; + acc = acc2; + end + step = obj.step_count; + end + + function [s1, s2, s3] = getOutputSizeImpl(~) + s1 = [1,1]; + s2 = [4,1]; + s3 = [3,1]; + end + + function [d1, d2, d3] = getOutputDataTypeImpl(~) + d1 = 'double'; + d2 = 'double'; + d3 = 'double'; + end + + function [c1, c2, c3] = isOutputComplexImpl(~) + c1 = false; + c2 = false; + c3 = false; + end + + function [c1, c2, c3] = isOutputFixedSizeImpl(~) + c1 = true; + c2 = true; + c3 = true; + end + + function sts = getSampleTimeImpl(obj) + sts = createSampleTime(obj,'Type','Discrete',... + 'SampleTime',obj.sample_time,'OffsetTime',0.0); + end + end +end + diff --git a/acrobot_sim.slx b/acrobot_sim.slx index 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t$H@Do2%^9k)WHObKD~nf?cbn8h4&5rZ8=Q Date: Fri, 27 Mar 2020 22:31:57 -0400 Subject: [PATCH 2/6] estimator use step_count from acrobot. --- +acrobot/acrobot.m | 20 ++++++++++---------- +acrobot/acrobot_state_estimator.m | 2 +- +acrobot/acrobot_state_estimator_helper.m | 16 ++++++---------- +acrobot/acrobot_walker.m | 22 +++++++++++++++------- acrobot_sim.slx | Bin 52506 -> 52916 bytes acrobot_sim.slx.original | Bin 43162 -> 52506 bytes 6 files changed, 32 insertions(+), 28 deletions(-) diff --git a/+acrobot/acrobot.m b/+acrobot/acrobot.m index 60a0b45..1c26bb8 100644 --- a/+acrobot/acrobot.m +++ b/+acrobot/acrobot.m @@ -35,12 +35,12 @@ B = [0; 1]; end - properties + properties(Access = public) % Physical Parameters g = 9.81; % Mechanical Parameters - leg_length; + leg_length = 0; foot_radius = 0.018; angle_limit = pi/20; motor_friction = 0.01; @@ -55,9 +55,9 @@ % Curves top_clip = 0; bottom_clip = 10; - pre_c; % Pre first step - c1; % First Step - c2; % Second Step + pre_c = 0; % Pre first step + c1 = 0; % First Step + c2 = 0; % Second Step end methods @@ -79,14 +79,14 @@ obj.c1 = acrobot.curve(pi/9.3, pi*0.25, 1.40, 0.48, [0.0960804536593042,-0.211617429208404,0.659358736156863,0.211867160150805]); % Third Step obj.c2 = acrobot.curve(pi/9.5, pi*0.25, 1.40, 0.48, [0.0305427320850607,-0.210190202255343,0.549640602180841,0.120949051732730]); % Second Step - % Create Robot Equation handles +% % Create Robot Equation handles obj.solveRoboticsEquation(); - - % Solve for the curve for both legs +% +% % Solve for the curve for both legs obj.calcRobotStates(); - obj.updateCurves(); +% obj.updateCurves(); end - +% function mass = lmass(obj, num) if rem(obj.step_count,2) == 1 if num == 2 diff --git a/+acrobot/acrobot_state_estimator.m b/+acrobot/acrobot_state_estimator.m index f5cb797..689ae51 100644 --- a/+acrobot/acrobot_state_estimator.m +++ b/+acrobot/acrobot_state_estimator.m @@ -94,7 +94,7 @@ function setupImpl(obj) function [d1, d2] = getOutputDataTypeImpl(~) d1 = 'double'; - d2 = 'boolean'; + d2 = 'double'; end function [c1, c2] = isOutputComplexImpl(~) diff --git a/+acrobot/acrobot_state_estimator_helper.m b/+acrobot/acrobot_state_estimator_helper.m index e62e8ca..9335f57 100644 --- a/+acrobot/acrobot_state_estimator_helper.m +++ b/+acrobot/acrobot_state_estimator_helper.m @@ -16,7 +16,6 @@ % Pre-computed constants properties(Access = private) - step_count = 0; end @@ -40,18 +39,15 @@ function setupImpl(obj) obj.setupImplPublic(); end - function [step, pos, acc] = stepImpl(obj, collision, pos1, acc1, pos2, acc2) - if (collision) - obj.step_count = obj.step_count + 1; - end - if mod(obj.step_count, 2) == 0 - pos = pos1; - acc = acc1; - else + function [step, pos, acc] = stepImpl(obj, step_count, pos1, acc1, pos2, acc2) + if mod(step_count, 2) == 0 pos = pos2; acc = acc2; + else + pos = pos1; + acc = acc1; end - step = obj.step_count; + step = step_count; end function [s1, s2, s3] = getOutputSizeImpl(~) diff --git a/+acrobot/acrobot_walker.m b/+acrobot/acrobot_walker.m index 7fdbf73..52c645d 100644 --- a/+acrobot/acrobot_walker.m +++ b/+acrobot/acrobot_walker.m @@ -35,26 +35,34 @@ function setupImpl(obj) obj.tau = [0;0]; end - function tau = stepImpl(obj,state) - obj.x = state; - obj.show(0); + function [step_count, tau] = stepImpl(obj, state, collision) + if (collision) + obj.step_count = obj.step_count + 1; + end +% obj.x = state; +% obj.show(0); tau = 0; + step_count = obj.step_count; end - function s1 = getOutputSizeImpl(~) + function [s1, s2] = getOutputSizeImpl(~) s1 = 1; + s2 = 1; end - function d1 = getOutputDataTypeImpl(~) + function [d1,d2] = getOutputDataTypeImpl(~) d1 = 'double'; + d2 = 'double'; end - function c1 = isOutputComplexImpl(~) + function [c1,c2] = isOutputComplexImpl(~) c1 = false; + c2 = false; end - function c1 = isOutputFixedSizeImpl(~) + function [c1,c2] = isOutputFixedSizeImpl(~) c1 = true; + c2 = true; end end end diff --git a/acrobot_sim.slx b/acrobot_sim.slx index 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zz{M0Y8B2~$FhC$ixi5jSsi1EYFX-BT0bb5oF35|Z_|h;LjOh7yh!f*TqK)aZ!6@?u z^G`tiX&`+ID@gN?wK&(Bw^|s$3Zs`JH%SL&2l&o^Zr1@i?B#S2a~$}&@qZH;0HD5P UJU#=QZ>0rs1}X3!W&iE@KZ?QT00000 From 19df3d9fad88a6d748906d31ee2ddcd0a94ca315 Mon Sep 17 00:00:00 2001 From: beston91 Date: Sat, 28 Mar 2020 01:30:55 -0400 Subject: [PATCH 3/6] updated --- +acrobot/acrobot.m | 7 ++++- +acrobot/acrobot_state_estimator.m | 30 ++++++++++++++-------- +acrobot/acrobot_state_estimator_helper.m | 9 ++++--- acrobot_sim.slx | Bin 52916 -> 53129 bytes 4 files changed, 31 insertions(+), 15 deletions(-) diff --git a/+acrobot/acrobot.m b/+acrobot/acrobot.m index 1c26bb8..ea5e88b 100644 --- a/+acrobot/acrobot.m +++ b/+acrobot/acrobot.m @@ -158,7 +158,7 @@ function calcRobotStates(obj) % Post impact for one foot is pre-impact for next foot - + temp = obj.step_count; % Heavy foot on the ground c1_qp = [(pi + obj.c2.beta)/2; pi - obj.c2.beta]; % Joint angles post impact c1_qm = [(pi - obj.c1.beta)/2; obj.c1.beta - pi]; % Joint angles pre impact @@ -183,6 +183,11 @@ function calcRobotStates(obj) % Then again ground to ground obj.c2.xm = [c1_qm; c1_w]; obj.c2.xp = [c1_qp; c1_v]; + + obj.step_count = temp; + if obj.step_count ~= 0 + step_count; + end end % objective [dist to final point; velocity to final point] diff --git a/+acrobot/acrobot_state_estimator.m b/+acrobot/acrobot_state_estimator.m index 689ae51..083cec4 100644 --- a/+acrobot/acrobot_state_estimator.m +++ b/+acrobot/acrobot_state_estimator.m @@ -20,7 +20,7 @@ leg_length = 0.335; state = [0;0;0;0]; cycleCount = 0; - timeout = false; + timeOut = false; max_velocity_change = 10; end @@ -39,6 +39,13 @@ function setupImplPublic(obj) end function [state, collision] = stepImplPublic(obj, step, pos, acc, motor_step) + if(obj.timeOut) + obj.cycleCount = obj.cycleCount + 1; + if(obj.cycleCount > 100) + obj.timeOut = false; + obj.cycleCount = 0; + end + end % Motor Angle qm = pi - motor_step / (obj.steps_per_rotation/ (2 * pi)); @@ -63,15 +70,18 @@ function setupImplPublic(obj) q2_dot = obj.state(4); end - rH = obj.leg_length * [cos(q1); sin(q1)]; - rc2 = rH + obj.leg_length * [cos(q1+q2); sin(q1+q2)]; - dist_to_floor = rc2(2); - if dist_to_floor < 0 - collision = 1; - else - collision = 0; + collision = 0; + + if(~obj.timeOut) + rH = obj.leg_length * [cos(q1); sin(q1)]; + rc2 = rH + obj.leg_length * [cos(q1+q2); sin(q1+q2)]; + dist_to_floor = rc2(2); + if dist_to_floor < 0.01 + obj.timeOut = true; + collision = 1; + end + end - state = [q1;q2;q1_dot;q2_dot]; obj.state = state; end @@ -89,7 +99,7 @@ function setupImpl(obj) function [s1, s2] = getOutputSizeImpl(~) s1 = [4,1]; - s2 = [1,1]; + s2 = 1; end function [d1, d2] = getOutputDataTypeImpl(~) diff --git a/+acrobot/acrobot_state_estimator_helper.m b/+acrobot/acrobot_state_estimator_helper.m index 9335f57..38a37ff 100644 --- a/+acrobot/acrobot_state_estimator_helper.m +++ b/+acrobot/acrobot_state_estimator_helper.m @@ -16,7 +16,7 @@ % Pre-computed constants properties(Access = private) - + cycle = 0; end methods @@ -40,18 +40,19 @@ function setupImpl(obj) end function [step, pos, acc] = stepImpl(obj, step_count, pos1, acc1, pos2, acc2) - if mod(step_count, 2) == 0 + step = step_count; + if mod(cast(step, 'int8'), 2) == 0 pos = pos2; acc = acc2; else pos = pos1; acc = acc1; end - step = step_count; + obj.cycle = obj.cycle + 1; end function [s1, s2, s3] = getOutputSizeImpl(~) - s1 = [1,1]; + s1 = 1; s2 = [4,1]; s3 = [3,1]; end diff --git a/acrobot_sim.slx b/acrobot_sim.slx index 54983ba0d89fe4f4594b5e0b8fdd768e1ff76c65..646bcd8bcd2c54c8bc3bb008945e53b13be13042 100644 GIT binary patch delta 32628 zcmb@sb8sL*+vpqHwry@~+qP|MC)sFY+jg?Cxv`zym>b)^dEf7xI``ba?^JcqQ;({9 zo|@_E-*i(BctjpJqOu$~1O^BQ2n+}fh<`mIIvDuZy^$O&4ixrFPJ~ILIgg*)Z-1yO=TWQ$!+L7;$nsKt%#gg2g|g{zDHpL z9|KGb5iPkfT@vHd*5Y6l%CUz#3ELK0ay4r=7dJ&pFQ)SM4hmtS;o+^?Tm5(6b3H`* zr5ITdynnw5lUJKE79kgDdqU>bY^V^tt6}^>zd;DGUyl7Y>k-wFKQfS(!BKJrc&)~w zhZbfqjJhuo!W+M3%;7sUqZspUz<6cYI&Q3fUbOt!?V0*!oO6+6fNCb_Gw^|klN3*3 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deletions(-) diff --git a/+acrobot/acrobot_state_estimator.m b/+acrobot/acrobot_state_estimator.m index 083cec4..e9dfe08 100644 --- a/+acrobot/acrobot_state_estimator.m +++ b/+acrobot/acrobot_state_estimator.m @@ -22,7 +22,7 @@ cycleCount = 0; timeOut = false; max_velocity_change = 10; - + step_count = 0; end methods @@ -53,9 +53,9 @@ function setupImplPublic(obj) if (mod(step, 2) == 1) qm = 2*pi - qm; end - + pos = (quat2eul(pos'))'; % q1 & q1_dot - roll = pos(2); + roll = pos(3); q1 = roll + pi/2; q1_dot = (q1 - obj.state(1))/obj.sample_time; @@ -76,13 +76,15 @@ function setupImplPublic(obj) rH = obj.leg_length * [cos(q1); sin(q1)]; rc2 = rH + obj.leg_length * [cos(q1+q2); sin(q1+q2)]; dist_to_floor = rc2(2); - if dist_to_floor < 0.01 + if dist_to_floor < 0 obj.timeOut = true; collision = 1; + obj.step_count = obj.step_count + 1; end end state = [q1;q2;q1_dot;q2_dot]; +% state = [ pos(1); pos(2) ; pos(3); 0]; obj.state = state; end end @@ -93,13 +95,20 @@ function setupImpl(obj) obj.setupImplPublic(); end - function [state, collision] = stepImpl(obj, step, pos, acc, motor_step) - [state, collision] = obj.stepImplPublic(step, pos, acc, motor_step); + function [state, collision] = stepImpl(obj,pos1, pos2, motor_step) + if mod(obj.step_count, 2) == 0 + pos = pos1; + else + pos = pos2; + end + %placeholder for acc + acc = 0; + [state, collision] = obj.stepImplPublic(obj.step_count, pos,acc, motor_step); end function [s1, s2] = getOutputSizeImpl(~) s1 = [4,1]; - s2 = 1; + s2 = [1,1]; end function [d1, d2] = getOutputDataTypeImpl(~) diff --git a/+acrobot/acrobot_walker.m b/+acrobot/acrobot_walker.m index 52c645d..5f65b6b 100644 --- a/+acrobot/acrobot_walker.m +++ b/+acrobot/acrobot_walker.m @@ -35,34 +35,30 @@ function setupImpl(obj) obj.tau = [0;0]; end - function [step_count, tau] = stepImpl(obj, state, collision) - if (collision) - obj.step_count = obj.step_count + 1; - end + function tau = stepImpl(obj, state) +% % obj.x = state; % obj.show(0); tau = 0; - step_count = obj.step_count; end - function [s1, s2] = getOutputSizeImpl(~) + function s1 = getOutputSizeImpl(~) s1 = 1; - s2 = 1; end - function [d1,d2] = getOutputDataTypeImpl(~) + function d1 = getOutputDataTypeImpl(~) d1 = 'double'; - d2 = 'double'; + end - function [c1,c2] = isOutputComplexImpl(~) + function c1 = isOutputComplexImpl(~) c1 = false; - c2 = false; + end - function [c1,c2] = isOutputFixedSizeImpl(~) + function c1 = isOutputFixedSizeImpl(~) c1 = true; - c2 = true; + end end end diff --git a/acrobot_sim.slx b/acrobot_sim.slx index 646bcd8bcd2c54c8bc3bb008945e53b13be13042..e25539db1f7fb86231a437627b5b42cd9689db27 100644 GIT binary patch delta 37962 zcmY(qb95lh6E+&#wr$&XHrm+S*iI%JCmY+`IGb#2+qP}nci-Q4&Uf$qqi1@i>#6DL z>h9B3&zXo^@X}0hgm3cT5EvjJATS_Eq%{Z_U|>k3b!1?1pfE_JzTXt_^x+a)!D#_~ zEa#t#--4gAOUBBC#M`v?$}CSikC zC4}bd)WuEkq-rjAS(Fm>^VAJ~-Lkxli~p@H3@);bX)TD$S;k$I;pI8_1E1wyU)Z^i z=gHJW6DJok3o-N-PDw-fNBT$IgEdXNh@dc{$>X}Px9~MP$K%!1u(|O6*Au?qs+C#{ 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100644 --- a/+acrobot/acrobot_state_estimator.m +++ b/+acrobot/acrobot_state_estimator.m @@ -39,13 +39,6 @@ function setupImplPublic(obj) end function [state, collision] = stepImplPublic(obj, step, pos, acc, motor_step) - if(obj.timeOut) - obj.cycleCount = obj.cycleCount + 1; - if(obj.cycleCount > 100) - obj.timeOut = false; - obj.cycleCount = 0; - end - end % Motor Angle qm = pi - motor_step / (obj.steps_per_rotation/ (2 * pi)); @@ -72,17 +65,17 @@ function setupImplPublic(obj) collision = 0; - if(~obj.timeOut) - rH = obj.leg_length * [cos(q1); sin(q1)]; - rc2 = rH + obj.leg_length * [cos(q1+q2); sin(q1+q2)]; - dist_to_floor = rc2(2); - if dist_to_floor < 0 - obj.timeOut = true; - collision = 1; - obj.step_count = obj.step_count + 1; - end + rH = obj.leg_length * [cos(q1); sin(q1)]; + rc2 = rH + obj.leg_length * [cos(q1+q2); sin(q1+q2)]; + dist_to_floor = rc2(2); + if dist_to_floor < 0 + obj.timeOut = true; + collision = 1; + obj.step_count = obj.step_count + 1; end + + state = [q1;q2;q1_dot;q2_dot]; % state = [ pos(1); pos(2) ; pos(3); 0]; obj.state = state; From 490b70de9a72e6d1423595485f40e5924f139c1e Mon Sep 17 00:00:00 2001 From: beston91 Date: Sun, 29 Mar 2020 00:34:44 -0400 Subject: [PATCH 6/6] updated --- +acrobot/acrobot_state_estimator.m | 2 +- acrobot_sim.slx | Bin 52648 -> 52704 bytes 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/+acrobot/acrobot_state_estimator.m b/+acrobot/acrobot_state_estimator.m index cade8b4..8c558c6 100644 --- a/+acrobot/acrobot_state_estimator.m +++ b/+acrobot/acrobot_state_estimator.m @@ -46,7 +46,7 @@ function setupImplPublic(obj) if (mod(step, 2) == 1) qm = 2*pi - qm; end - pos = (quat2eul(pos'))'; +% pos = (quat2eul(pos'))'; % q1 & q1_dot roll = pos(3); q1 = roll + pi/2; diff --git a/acrobot_sim.slx b/acrobot_sim.slx index e25539db1f7fb86231a437627b5b42cd9689db27..4254de79cc8b2e8fa6fc965c62ba1c4c5fe428f7 100644 GIT binary patch delta 35497 zcmY(p1yCMM(*=sVI|O&;+z~Mh{RGbCl6U>v^ 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