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Scalars or lists for motor constants, gear ratios and max currents #21

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8 changes: 4 additions & 4 deletions include/odri_control_interface/joint_modules.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,9 @@ class JointModules
public:
JointModules(const std::shared_ptr<MasterBoardInterface>& robot_if,
ConstRefVectorXi motor_numbers,
double motor_constants,
double gear_ratios,
double max_currents,
ConstRefVectorXd motor_constants,
ConstRefVectorXd gear_ratios,
ConstRefVectorXd max_currents,
ConstRefVectorXb reverse_polarities,
ConstRefVectorXd lower_joint_limits,
ConstRefVectorXd upper_joint_limits,
Expand All @@ -85,7 +85,7 @@ class JointModules
void SetDesiredVelocities(ConstRefVectorXd desired_velocities);
void SetPositionGains(ConstRefVectorXd desired_gains);
void SetVelocityGains(ConstRefVectorXd desired_gains);
void SetMaximumCurrents(double max_currents);
void SetMaximumCurrents(ConstRefVectorXd max_currents);

/**
* @brief Disables the position and velocity gains by setting them to zero.
Expand Down
35 changes: 25 additions & 10 deletions src/joint_modules.cpp
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Expand Up @@ -16,15 +16,17 @@ namespace odri_control_interface
JointModules::JointModules(
const std::shared_ptr<MasterBoardInterface>& robot_if,
ConstRefVectorXi motor_numbers,
double motor_constants,
double gear_ratios,
double max_currents,
ConstRefVectorXd motor_constants,
ConstRefVectorXd gear_ratios,
ConstRefVectorXd max_currents,
ConstRefVectorXb reverse_polarities,
ConstRefVectorXd lower_joint_limits,
ConstRefVectorXd upper_joint_limits,
double max_joint_velocities,
double safety_damping)
: robot_if_(robot_if),
gear_ratios_(gear_ratios),
motor_constants_(motor_constants),
lower_joint_limits_(lower_joint_limits),
upper_joint_limits_(upper_joint_limits),
max_joint_velocities_(max_joint_velocities),
Expand All @@ -39,6 +41,18 @@ JointModules::JointModules(
nd_ = (n_ + 1) / 2;

// Check input arrays for correct sizes.
if (motor_constants.size() != n_)
{
throw std::runtime_error(
"Motor constants has different size than motor numbers");
}

if (gear_ratios.size() != n_)
{
throw std::runtime_error(
"Gear ratios has different size than motor numbers");
}

if (reverse_polarities.size() != n_)
{
throw std::runtime_error(
Expand All @@ -57,9 +71,13 @@ JointModules::JointModules(
"Upper joint limits has different size than motor numbers");
}

if (max_currents.size() != n_)
{
throw std::runtime_error(
"Max currents has different size than motor numbers");
}

// Resize and fill the vectors.
gear_ratios_.resize(n_);
motor_constants_.resize(n_);
positions_.resize(n_);
velocities_.resize(n_);
sent_torques_.resize(n_);
Expand All @@ -80,9 +98,6 @@ JointModules::JointModules(
motor_driver_errors_.resize(nd_);
motor_driver_errors_.fill(0);

gear_ratios_.fill(gear_ratios);
motor_constants_.fill(motor_constants);

for (int i = 0; i < n_; i++)
{
motors_.push_back(robot_if_->GetMotor(motor_numbers[i]));
Expand Down Expand Up @@ -453,11 +468,11 @@ void JointModules::PrintVector(ConstRefVectorXd vector)
msg_out_ << vector.transpose().format(CleanFmt);
}

void JointModules::SetMaximumCurrents(double max_currents)
void JointModules::SetMaximumCurrents(ConstRefVectorXd max_currents)
{
for (int i = 0; i < n_; i++)
{
motors_[i]->set_current_sat(max_currents);
motors_[i]->set_current_sat(max_currents[i]);
}
}

Expand Down
87 changes: 84 additions & 3 deletions src/utils.cpp
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Expand Up @@ -108,18 +108,99 @@ std::shared_ptr<JointModules> JointModulesFromYaml(
upper_joint_limits_vec(i) = upper_joint_limits[i].as<double>();
}

// "motor_constants" can be either a scalar (same value for all motors) or a list
assert_yaml_parsing(joint_modules_yaml, "joint_modules", "motor_constants");
const YAML::Node& motor_constants = joint_modules_yaml["motor_constants"];
VectorXd motor_constants_vec;
motor_constants_vec.resize(n);
switch (motor_constants.Type()) {
case YAML::NodeType::Scalar:
for (std::size_t i = 0; i < n; i++)
{
motor_constants_vec(i) = motor_constants.as<double>();
}
break;
case YAML::NodeType::Sequence:
if (motor_constants.size() != n)
{
throw std::runtime_error(
"Motor constants list has different size than motor numbers.");
}
for (std::size_t i = 0; i < n; i++)
{
motor_constants_vec(i) = motor_constants[i].as<double>();
}
break;
default:
throw std::runtime_error(
"Motor constants should be either a scalar or a list.");
}

// "gear_ratios" can be either a scalar (same value for all motors) or a list
assert_yaml_parsing(joint_modules_yaml, "joint_modules", "gear_ratios");
const YAML::Node& gear_ratios = joint_modules_yaml["gear_ratios"];
VectorXd gear_ratios_vec;
gear_ratios_vec.resize(n);
switch (gear_ratios.Type()) {
case YAML::NodeType::Scalar:
for (std::size_t i = 0; i < n; i++)
{
gear_ratios_vec(i) = gear_ratios.as<double>();
}
break;
case YAML::NodeType::Sequence:
if (gear_ratios.size() != n)
{
throw std::runtime_error(
"Gear ratio list has different size than motor numbers.");
}
for (std::size_t i = 0; i < n; i++)
{
gear_ratios_vec(i) = gear_ratios[i].as<double>();
}
break;
default:
throw std::runtime_error(
"Gear ratio should be either a scalar or a list.");
}

// "max_currents" can be either a scalar (same value for all motors) or a list
assert_yaml_parsing(joint_modules_yaml, "joint_modules", "max_currents");
const YAML::Node& max_currents = joint_modules_yaml["max_currents"];
VectorXd max_currents_vec;
max_currents_vec.resize(n);
switch (max_currents.Type()) {
case YAML::NodeType::Scalar:
for (std::size_t i = 0; i < n; i++)
{
max_currents_vec(i) = max_currents.as<double>();
}
break;
case YAML::NodeType::Sequence:
if (max_currents.size() != n)
{
throw std::runtime_error(
"Max currents list has different size than motor numbers.");
}
for (std::size_t i = 0; i < n; i++)
{
max_currents_vec(i) = max_currents[i].as<double>();
}
break;
default:
throw std::runtime_error(
"Max currents should be either a scalar or a list.");
}

assert_yaml_parsing(
joint_modules_yaml, "joint_modules", "max_joint_velocities");
assert_yaml_parsing(joint_modules_yaml, "joint_modules", "safety_damping");
return std::make_shared<JointModules>(
robot_if,
motor_numbers_vec,
joint_modules_yaml["motor_constants"].as<double>(),
joint_modules_yaml["gear_ratios"].as<double>(),
joint_modules_yaml["max_currents"].as<double>(),
motor_constants_vec,
gear_ratios_vec,
max_currents_vec,
rev_polarities_vec,
lower_joint_limits_vec,
upper_joint_limits_vec,
Expand Down
6 changes: 3 additions & 3 deletions srcpy/bindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,9 @@ std::shared_ptr<JointCalibrator> joint_calibrator_constructor(
std::shared_ptr<JointModules> joint_modules_constructor(
const std::shared_ptr<MasterBoardInterface>& robot_if,
ConstRefVectorXl motor_numbers,
double motor_constants,
double gear_ratios,
double max_currents,
ConstRefVectorXd motor_constants,
ConstRefVectorXd gear_ratios,
ConstRefVectorXd max_currents,
ConstRefVectorXb reverse_polarities,
ConstRefVectorXd lower_joint_limits,
ConstRefVectorXd upper_joint_limits,
Expand Down