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zj
2025-10-30 17:32:20 +08:00
parent 1b37132764
commit 95a6d6de9d
13 changed files with 1334 additions and 418 deletions
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cmake_minimum_required(VERSION 3.8)
project(create_robot_describer)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_compile_options(-g)
#set(CMAKE_BUILD_TYPE Release)
set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
set(CGAL_DATA_DIR ".")
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(gjk_interface REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(CGAL REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
include_directories(
include
${CMAKE_CURRENT_SOURCE_DIR}/../include
${EIGEN3_INCLUDE_DIRS} # 引入Eigen3的头文件路径
)
# 设置源文件
set(SOURCES
src/create_robot_describe.cpp
)
# 添加可执行文件
add_executable(create_robot_describer ${SOURCES})
ament_target_dependencies(create_robot_describer
gjk_interface
moveit_ros_planning_interface
)
target_link_libraries(create_robot_describer CGAL::CGAL)
install(TARGETS
create_robot_describer
DESTINATION lib/${PROJECT_NAME})
ament_package()

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create_robot_describer/include/create_robot_describe.hpp Normal file
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#ifndef CREATE_ROBOT_DESCRIBE_HPP
#define CREATE_ROBOT_DESCRIBE_HPP
#include <string>
#include <vector>
#include <memory>
#include <map>
#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
#include "gjk_interface.hpp"
struct JointsModel {
std::string name; // 关节名称
int type; // 关节类型
int parent_link; // 父连杆
int child_link; // 子连杆
Eigen::Vector3d axis; // 关节轴
Eigen::Vector3d nextLinkOffset; // 下一个连杆关于关节原点偏移
Eigen::Quaterniond rotation; // 关节旋转
double limit_lower;
double limit_upper;
double limit_v;
double limit_e;
};
struct CollisionModel {
std::string link_name; // 所属链接名称
std::string geometry_type; // 几何类型
std::string mesh_filename; // mesh文件路径（如STL）
std::vector<OBB> obbModelList; // 网格边界盒 [min_x, max_x, min_y, max_y, min_z, max_z]
std::vector<JointsModel> joint_list;
std::vector<int> obbLinkIndexList; // 网格边界盒所属链接索引
int joint_count;
int link_index;
int parent_link_index;
Eigen::Quaterniond rotation; // 链接旋转
Eigen::Vector3d offset; // 链接偏移
};
class RobotDescription
{
public:
RobotDescription(const std::string &urdf, const std::string &srdf);
~RobotDescription();
// 其他成员函数和变量
private:
int InitJointModel();
int InitJoint(const urdf::Model &urdf_model);
int GetMeshLinkdimensions(const std::string& filename, CollisionModel& col_struct);
int InitCollisionStructureList(const urdf::Model &urdf_model);
void UpdatePolyhedrons();
int InitLinkCollisionDetectMatrix(const std::string& srdf_str);
std::vector<CollisionModel> collision_structures_;
std::vector<JointsModel> jointMap_;
std::map<std::string, int> linkCollisionMap_;
int rootLinkIndex_;
int maxObbCnt;
bool *g_linkCollisionDetectMatrix;
};
#endif // CREATE_ROBOT_DESCRIBE_HPP

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>create_robot_describer</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="zhengjie@hivecore.cn">zj</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>gjk_interface</depend>
<exec_depend>moveit_ros_planning_interface</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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create_robot_describer/src/create_robot_describe.cpp Normal file
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#include <fstream>
#include <string>
#include <stdexcept> // 用于抛出异常
#include <filesystem>
#include <iostream>
#include <moveit/robot_model/robot_model.h>
#include <CGAL/optimal_bounding_box.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <create_robot_describe.hpp>
#define UNUSED(x) (void)(x)
typedef CGAL::Exact_predicates_inexact_constructions_kernel CgalK;
typedef CgalK::Point_3 CgalPoint;
namespace fs = std::filesystem;
using namespace Eigen;
int RobotDescription::InitJointModel()
{
int linkIndex = rootLinkIndex_;
CollisionModel *colStruct = &collision_structures_[linkIndex];
std::vector<JointsModel *> jointList;
int index = 0;
int maxJointCount = 0;
Quaterniond rotationAll = Quaterniond::Identity();
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
printf("链接 %s 包含关节 %s, 原offset: (%.4f, %.4f, %.4f)\n", colStruct->link_name.c_str(), colStruct->joint_list[i].name.c_str(),
colStruct->joint_list[i].nextLinkOffset.x(),
colStruct->joint_list[i].nextLinkOffset.y(),
colStruct->joint_list[i].nextLinkOffset.z());
colStruct->joint_list[i].rotation = rotationAll * colStruct->joint_list[i].rotation;
colStruct->joint_list[i].axis = colStruct->joint_list[i].rotation * colStruct->joint_list[i].axis;
colStruct->joint_list[i].nextLinkOffset = rotationAll * colStruct->joint_list[i].nextLinkOffset;
printf("更新后关节 %s 旋转四元数: (%.4f, %.4f, %.4f, %.4f), 轴向: (%.4f, %.4f, %.4f), 偏移: (%.4f, %.4f, %.4f)\n",
colStruct->joint_list[i].name.c_str(),
colStruct->joint_list[i].rotation.w(),
colStruct->joint_list[i].rotation.x(),
colStruct->joint_list[i].rotation.y(),
colStruct->joint_list[i].rotation.z(),
colStruct->joint_list[i].axis.x(),
colStruct->joint_list[i].axis.y(),
colStruct->joint_list[i].axis.z(),
colStruct->joint_list[i].nextLinkOffset.x(),
colStruct->joint_list[i].nextLinkOffset.y(),
colStruct->joint_list[i].nextLinkOffset.z());
}
JointsModel *jointInfo = jointList[index];
rotationAll = jointInfo->rotation;
index++;
linkIndex = jointInfo->child_link;
colStruct = &collision_structures_[linkIndex];
for (size_t i = 0; i < colStruct->obbModelList.size(); i++) {
colStruct->obbModelList[i] = gjk_interface::updateOBBFromPoints(colStruct->obbModelList[i],
Vector3d::Zero(),
rotationAll);
}
}
return 0;
}
int RobotDescription::InitJoint(const urdf::Model &urdf_model)
{
for (const auto& joint_pair : urdf_model.joints_) {
urdf::JointConstSharedPtr joint = joint_pair.second;
JointsModel joint_info;
joint_info.name = joint->name;
joint_info.type = joint->type;
joint_info.parent_link = -1;
joint_info.child_link = -1;
if (joint->parent_link_name != "") {
if (linkCollisionMap_.find(joint->parent_link_name) != linkCollisionMap_.end()) {
joint_info.parent_link = linkCollisionMap_[joint->parent_link_name];
} else {
printf("Joint %s 的父链接 %s 未找到！", joint->name.c_str(), joint->parent_link_name.c_str());
return -1;
}
}
if (joint->child_link_name != "") {
if (linkCollisionMap_.find(joint->child_link_name) != linkCollisionMap_.end()) {
joint_info.child_link = linkCollisionMap_[joint->child_link_name];
} else {
printf("Joint %s 的子链接 %s 未找到！", joint->name.c_str(), joint->child_link_name.c_str());
return -1;
}
}
joint_info.nextLinkOffset = Vector3d(joint->parent_to_joint_origin_transform.position.x,
joint->parent_to_joint_origin_transform.position.y,
joint->parent_to_joint_origin_transform.position.z);
joint_info.rotation = Quaterniond(
joint->parent_to_joint_origin_transform.rotation.w,
joint->parent_to_joint_origin_transform.rotation.x,
joint->parent_to_joint_origin_transform.rotation.y,
joint->parent_to_joint_origin_transform.rotation.z);
if (joint->type != urdf::Joint::FIXED) {
joint_info.axis = Vector3d(joint->axis.x, joint->axis.y, joint->axis.z);
if (joint->limits != NULL) {
joint_info.limit_lower = joint->limits->lower;
joint_info.limit_upper = joint->limits->upper;
joint_info.limit_v = joint->limits->velocity;
joint_info.limit_e = joint->limits->effort;
}
} else {
joint_info.axis = Vector3d::Zero();
joint_info.limit_lower = 0.0;
joint_info.limit_upper = 0.0;
joint_info.limit_v = 0.0;
joint_info.limit_e = 0.0;
}
jointMap_.push_back(joint_info);
CollisionModel *parentColStruct = &collision_structures_[joint_info.parent_link];
parentColStruct->joint_list.push_back(joint_info);
parentColStruct->joint_count++;
CollisionModel *childColStruct = &collision_structures_[joint_info.child_link];
childColStruct->parent_link_index = joint_info.parent_link;
}
InitJointModel();
return 0;
}
int RobotDescription::GetMeshLinkdimensions(const std::string& filename, CollisionModel& col_struct)
{
/*shapes::Mesh* mesh = shapes::createMeshFromResource(filename);
if (!mesh) {
printf("无法加载网格文件: %s\n", filename.c_str());
return false;
}
std::vector<Eigen::Vector3d> eigen_points;
std::vector<CgalPoint> points;
for (unsigned int i = 0; i < mesh->vertex_count; ++i) {
points.emplace_back(mesh->vertices[3*i], mesh->vertices[3*i + 1], mesh->vertices[3*i + 2]);
}
std::array<CgalPoint, 8> obb_points;
CGAL::oriented_bounding_box(points, obb_points, CGAL::parameters::use_convex_hull(true));
printf("计算%s得到的 OBB 顶点:\n", col_struct.link_name.c_str());
for (const auto& pt : obb_points) {
eigen_points.push_back(Eigen::Vector3d(pt.x(), pt.y(), pt.z()));
printf("(%.4f, %.4f, %.4f)\n", pt.x(), pt.y(), pt.z());
}*/
UNUSED(filename);
static std::map<std::string, std::array<Vector3d, 8>> pointMap = {
{"LeftLink1",
{Vector3d(0.0411, 0.0456, -0.1191), Vector3d(-0.0409, 0.0458, -0.1191), Vector3d(-0.0411, -0.0444, -0.1013), Vector3d(0.0409, -0.0446, -0.1013), Vector3d(0.0410, -0.0137, 0.0545), Vector3d(0.0412, 0.0765, 0.0366), Vector3d(-0.0408, 0.0767, 0.0366), Vector3d(-0.0410, -0.0135, 0.0545)}},
{"LeftLink2",
{Vector3d(0.2879, 0.0332, -0.0733), Vector3d(-0.0475, 0.0417, -0.0150), Vector3d(-0.0496, -0.0393, -0.0149), Vector3d(0.2858, -0.0478, -0.0732), Vector3d(0.3004, -0.0481, 0.0110), Vector3d(0.3025, 0.0329, 0.0109), Vector3d(-0.0329, 0.0414, 0.0691), Vector3d(-0.0349, -0.0396, 0.0692)}},
{"LeftLink3",
{Vector3d(0.0464, 0.0342, 0.0241), Vector3d(-0.0012, 0.0428, -0.0180), Vector3d(-0.0025, -0.1243, -0.0505), Vector3d(0.0451, -0.1329, -0.0084), Vector3d(0.0019, -0.1416, 0.0386), Vector3d(0.0032, 0.0254, 0.0710), Vector3d(-0.0443, 0.0340, 0.0289), Vector3d(-0.0456, -0.1331, -0.0036)}},
{"LeftLink4",
{Vector3d(0.0286, 0.0314, -0.0811), Vector3d(-0.0294, 0.0307, -0.0811), Vector3d(-0.0285, -0.0395, -0.0933), Vector3d(0.0295, -0.0388, -0.0933), Vector3d(0.0298, -0.0592, 0.0251), Vector3d(0.0289, 0.0110, 0.0372), Vector3d(-0.0291, 0.0103, 0.0372), Vector3d(-0.0282, -0.0600, 0.0251)}},
{"LeftLink5",
{Vector3d(0.0290, 0.0328, -0.0184), Vector3d(-0.0282, 0.0330, -0.0190), Vector3d(-0.0284, -0.1144, -0.0341), Vector3d(0.0288, -0.1145, -0.0335), Vector3d(0.0282, -0.1208, 0.0281), Vector3d(0.0284, 0.0265, 0.0432), Vector3d(-0.0288, 0.0266, 0.0427), Vector3d(-0.0290, -0.1207, 0.0275)}},
{"LeftLink6",
{Vector3d(0.0492, 0.0104, -0.0290), Vector3d(-0.0023, 0.0469, -0.0290), Vector3d(-0.0404, -0.0069, -0.0290), Vector3d(0.0111, -0.0434, -0.0290), Vector3d(0.0111, -0.0434, 0.0000), Vector3d(0.0492, 0.0104, 0.0000), Vector3d(-0.0023, 0.0469, 0.0000), Vector3d(-0.0404, -0.0069, 0.0000)}},
{"RightLink1",
{Vector3d(0.0411, 0.0456, -0.1191), Vector3d(-0.0409, 0.0458, -0.1191), Vector3d(-0.0411, -0.0444, -0.1013), Vector3d(0.0409, -0.0446, -0.1013), Vector3d(0.0410, -0.0137, 0.0545), Vector3d(0.0412, 0.0765, 0.0366), Vector3d(-0.0408, 0.0767, 0.0366), Vector3d(-0.0410, -0.0135, 0.0545)}},
{"RightLink2",
{Vector3d(0.3025, 0.0329, 0.0109), Vector3d(0.2879, 0.0332, -0.0733), Vector3d(0.2858, -0.0478, -0.0732), Vector3d(0.3004, -0.0481, 0.0110), Vector3d(-0.0349, -0.0396, 0.0692), Vector3d(-0.0329, 0.0414, 0.0691), Vector3d(-0.0475, 0.0417, -0.0150), Vector3d(-0.0496, -0.0393, -0.0149)}},
{"RightLink3",
{Vector3d(0.0464, 0.0342, 0.0241), Vector3d(-0.0012, 0.0428, -0.0180), Vector3d(-0.0025, -0.1243, -0.0505), Vector3d(0.0451, -0.1329, -0.0084), Vector3d(0.0019, -0.1416, 0.0386), Vector3d(0.0032, 0.0254, 0.0710), Vector3d(-0.0443, 0.0340, 0.0289), Vector3d(-0.0456, -0.1331, -0.0036)}},
{"RightLink4",
{Vector3d(0.0295, -0.0388, -0.0933), Vector3d(-0.0285, -0.0395, -0.0933), Vector3d(-0.0282, -0.0600, 0.0251), Vector3d(0.0298, -0.0592, 0.0251), Vector3d(0.0289, 0.0110, 0.0372), Vector3d(0.0286, 0.0314, -0.0811), Vector3d(-0.0294, 0.0307, -0.0811), Vector3d(-0.0291, 0.0103, 0.0372)}},
{"RightLink5",
{Vector3d(0.0288, -0.1145, -0.0335), Vector3d(-0.0284, -0.1144, -0.0341), Vector3d(-0.0290, -0.1207, 0.0275), Vector3d(0.0282, -0.1208, 0.0281), Vector3d(0.0284, 0.0265, 0.0432), Vector3d(0.0290, 0.0328, -0.0184), Vector3d(-0.0282, 0.0330, -0.0190), Vector3d(-0.0288, 0.0266, 0.0427)}},
{"RightLink6",
{Vector3d(0.0492, 0.0104, -0.0290), Vector3d(-0.0023, 0.0469, -0.0290), Vector3d(-0.0404, -0.0069, -0.0290), Vector3d(0.0111, -0.0434, -0.0290), Vector3d(0.0111, -0.0434, 0.0000), Vector3d(0.0492, 0.0104, 0.0000), Vector3d(-0.0023, 0.0469, 0.0000), Vector3d(-0.0404, -0.0069, 0.0000)}},
{"base_link",
{Vector3d(0.2085, 0.1895, -0.0856), Vector3d(-0.1905, 0.1895, -0.0880), Vector3d(-0.1905, -0.1895, -0.0880), Vector3d(0.2085, -0.1895, -0.0856), Vector3d(0.2071, -0.1895, 0.1679), Vector3d(0.2071, 0.1895, 0.1679), Vector3d(-0.1920, 0.1895, 0.1656), Vector3d(-0.1920, -0.1895, 0.1656)}},
{"base_link_leftarm",
{Vector3d(0.0661, -0.0353, 0.1385), Vector3d(0.0661, -0.0353, -0.0000), Vector3d(-0.0339, -0.0699, -0.0000), Vector3d(-0.0339, -0.0699, 0.1385), Vector3d(-0.0698, 0.0339, 0.1385), Vector3d(0.0302, 0.0685, 0.1385), Vector3d(0.0302, 0.0685, -0.0000), Vector3d(-0.0698, 0.0339, -0.0000)}},
{"base_link_rightarm",
{Vector3d(0.0661, -0.0353, -0.0000), Vector3d(0.0302, 0.0685, -0.0000), Vector3d(-0.0698, 0.0339, -0.0000), Vector3d(-0.0339, -0.0699, -0.0000), Vector3d(-0.0339, -0.0699, 0.1385), Vector3d(0.0661, -0.0353, 0.1385), Vector3d(0.0302, 0.0685, 0.1385), Vector3d(-0.0698, 0.0339, 0.1385)}},
{"body_2_link",
{Vector3d(0.1595, 0.0756, -0.0750), Vector3d(-0.1415, 0.0735, -0.0750), Vector3d(-0.1390, -0.2855, -0.0750), Vector3d(0.1620, -0.2834, -0.0750), Vector3d(0.1620, -0.2834, 0.5416), Vector3d(0.1595, 0.0756, 0.5416), Vector3d(-0.1415, 0.0735, 0.5416), Vector3d(-0.1390, -0.2855, 0.5416)}},
{"body_link",
{Vector3d(0.0593, 0.1034, -0.0010), Vector3d(-0.0842, 0.1024, -0.0010), Vector3d(-0.0828, -0.1036, -0.0010), Vector3d(0.0607, -0.1026, -0.0010), Vector3d(0.0607, -0.1026, 0.1600), Vector3d(0.0593, 0.1034, 0.1600), Vector3d(-0.0842, 0.1024, 0.1600), Vector3d(-0.0828, -0.1036, 0.1600)}},
{"head_link",
{Vector3d(0.0672, 0.1175, -0.0000), Vector3d(-0.0658, 0.1165, 0.0000), Vector3d(-0.0642, -0.1175, 0.0000), Vector3d(0.0689, -0.1165, -0.0000), Vector3d(0.0689, -0.1165, 0.2031), Vector3d(0.0672, 0.1175, 0.2031), Vector3d(-0.0658, 0.1165, 0.2031), Vector3d(-0.0642, -0.1175, 0.2031)}},
{"left_behind_hip_link",
{Vector3d(0.0626, 0.0721, 0.0288), Vector3d(-0.1058, 0.0721, -0.4340), Vector3d(-0.1058, 0.0000, -0.4340), Vector3d(0.0626, 0.0000, 0.0288), Vector3d(-0.0295, 0.0000, 0.0623), Vector3d(-0.0295, 0.0721, 0.0623), Vector3d(-0.1979, 0.0721, -0.4005), Vector3d(-0.1979, 0.0000, -0.4005)}},
{"left_behind_leg_link",
{Vector3d(0.0648, -0.0402, -0.0206), Vector3d(0.0648, 0.0235, -0.0206), Vector3d(-0.0927, 0.0235, -0.4532), Vector3d(-0.0927, -0.0402, -0.4532), Vector3d(-0.2204, -0.0402, -0.4068), Vector3d(-0.0629, -0.0402, 0.0259), Vector3d(-0.0629, 0.0235, 0.0259), Vector3d(-0.2204, 0.0235, -0.4068)}},
{"left_behind_wheel_link",
{Vector3d(0.0852, 0.0370, -0.0945), Vector3d(-0.0944, 0.0370, -0.0853), Vector3d(-0.0944, -0.0125, -0.0853), Vector3d(0.0852, -0.0125, -0.0945), Vector3d(0.0944, -0.0125, 0.0853), Vector3d(0.0944, 0.0370, 0.0853), Vector3d(-0.0852, 0.0370, 0.0945), Vector3d(-0.0852, -0.0125, 0.0945)}},
{"left_front_hip_link",
{Vector3d(0.1987, 0.1315, -0.3903), Vector3d(0.1020, 0.1315, -0.4259), Vector3d(0.1020, 0.0190, -0.4259), Vector3d(0.1987, 0.0190, -0.3903), Vector3d(0.0305, 0.0190, 0.0661), Vector3d(0.0305, 0.1315, 0.0661), Vector3d(-0.0661, 0.1315, 0.0305), Vector3d(-0.0661, 0.0190, 0.0305)}},
{"left_front_knee_link",
{Vector3d(0.2234, 0.0230, -0.3181), Vector3d(0.1136, 0.0230, -0.3665), Vector3d(0.1136, -0.0620, -0.3665), Vector3d(0.2234, -0.0620, -0.3181), Vector3d(0.0518, -0.0620, 0.0708), Vector3d(0.0518, 0.0230, 0.0708), Vector3d(-0.0580, 0.0230, 0.0224), Vector3d(-0.0580, -0.0620, 0.0224)}},
{"left_front_roll_link",
{Vector3d(0.0960, 0.0565, 0.0000), Vector3d(-0.0060, 0.0565, -0.1020), Vector3d(-0.0060, -0.0285, -0.1020), Vector3d(0.0960, -0.0285, 0.0000), Vector3d(-0.0060, -0.0285, 0.1020), Vector3d(-0.0060, 0.0565, 0.1020), Vector3d(-0.1080, 0.0565, -0.0000), Vector3d(-0.1080, -0.0285, -0.0000)}},
{"left_front_wheel_link",
{Vector3d(0.1223, 0.0000, -0.0336), Vector3d(-0.0336, 0.0000, -0.1223), Vector3d(-0.0336, -0.0570, -0.1223), Vector3d(0.1223, -0.0570, -0.0336), Vector3d(0.0336, -0.0570, 0.1223), Vector3d(0.0336, 0.0000, 0.1223), Vector3d(-0.1223, 0.0000, 0.0336), Vector3d(-0.1223, -0.0570, 0.0336)}},
{"right_behind_hip_link",
{Vector3d(-0.1058, -0.0000, -0.4340), Vector3d(-0.1979, -0.0000, -0.4005), Vector3d(-0.1979, -0.0721, -0.4005), Vector3d(-0.1058, -0.0721, -0.4340), Vector3d(0.0626, -0.0721, 0.0288), Vector3d(0.0626, -0.0000, 0.0288), Vector3d(-0.0295, -0.0000, 0.0623), Vector3d(-0.0295, -0.0721, 0.0623)}},
{"right_behind_leg_link",
{Vector3d(0.0648, 0.0402, -0.0206), Vector3d(-0.0927, 0.0402, -0.4532), Vector3d(-0.0927, -0.0235, -0.4532), Vector3d(0.0648, -0.0235, -0.0206), Vector3d(-0.0629, -0.0235, 0.0259), Vector3d(-0.0629, 0.0402, 0.0259), Vector3d(-0.2204, 0.0402, -0.4068), Vector3d(-0.2204, -0.0235, -0.4068)}},
{"right_behind_wheel_link",
{Vector3d(0.1259, 0.0125, -0.0183), Vector3d(-0.0182, 0.0125, -0.1259), Vector3d(-0.0182, -0.0370, -0.1259), Vector3d(0.1259, -0.0370, -0.0183), Vector3d(0.0182, -0.0370, 0.1259), Vector3d(0.0182, 0.0125, 0.1259), Vector3d(-0.1259, 0.0125, 0.0183), Vector3d(-0.1259, -0.0370, 0.0183)}},
{"right_front_hip_link",
{Vector3d(0.1956, -0.0190, -0.3918), Vector3d(0.0987, -0.0190, -0.4267), Vector3d(0.0987, -0.1320, -0.4267), Vector3d(0.1956, -0.1320, -0.3918), Vector3d(0.0310, -0.1320, 0.0659), Vector3d(0.0310, -0.0190, 0.0659), Vector3d(-0.0659, -0.0190, 0.0310), Vector3d(-0.0659, -0.1320, 0.0310)}},
{"right_front_knee_link",
{Vector3d(0.2234, 0.0620, -0.3181), Vector3d(0.1136, 0.0620, -0.3665), Vector3d(0.1136, -0.0230, -0.3665), Vector3d(0.2234, -0.0230, -0.3181), Vector3d(0.0518, -0.0230, 0.0708), Vector3d(0.0518, 0.0620, 0.0708), Vector3d(-0.0580, 0.0620, 0.0224), Vector3d(-0.0580, -0.0230, 0.0224)}},
{"right_front_roll_link",
{Vector3d(0.0960, 0.0285, 0.0000), Vector3d(-0.0060, 0.0285, -0.1020), Vector3d(-0.0060, -0.0565, -0.1020), Vector3d(0.0960, -0.0565, 0.0000), Vector3d(-0.0060, -0.0565, 0.1020), Vector3d(-0.0060, 0.0285, 0.1020), Vector3d(-0.1080, 0.0285, -0.0000), Vector3d(-0.1080, -0.0565, -0.0000)}},
{"right_front_wheel_link",
{Vector3d(0.1262, 0.0528, -0.0125), Vector3d(-0.0125, 0.0528, -0.1262), Vector3d(-0.0125, -0.0042, -0.1262), Vector3d(0.1262, -0.0042, -0.0125), Vector3d(0.0125, -0.0042, 0.1262), Vector3d(0.0125, 0.0528, 0.1262), Vector3d(-0.1262, 0.0528, 0.0125), Vector3d(-0.1262, -0.0042, 0.0125)}},
};
std::array<Vector3d, 8> eigen_points_arr = pointMap.at(col_struct.link_name);
std::vector<Eigen::Vector3d> eigen_points(eigen_points_arr.begin(), eigen_points_arr.end());
OBB obb = gjk_interface::createOBBFromPoints(eigen_points);
col_struct.obbModelList.push_back(obb);
return 0;
}
int RobotDescription::InitCollisionStructureList(const urdf::Model &urdf_model)
{
int result = 0;
int linkIndex = 0;
for (const auto& link_pair : urdf_model.links_) {
// link_pair是一个键值对: 键为链接名称，值为链接指针
urdf::LinkConstSharedPtr link = link_pair.second;
for (const auto& collision : link->collision_array) {
CollisionModel colStruct;
colStruct.link_name = link->name;
colStruct.geometry_type = collision->geometry->type;
linkCollisionMap_[link->name] = linkIndex;
int obbCnt = 1;
if (collision->geometry->type == urdf::Geometry::BOX) {
urdf::Box* box = dynamic_cast<urdf::Box*>(collision->geometry.get());
std::vector<Eigen::Vector3d> obb_points = {
Eigen::Vector3d(-box->dim.x / 2, -box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, -box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, -box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, -box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, box->dim.y / 2, box->dim.z / 2)
};
OBB obb = gjk_interface::createOBBFromPoints(obb_points);
colStruct.obbModelList.push_back(obb);
} else if (collision->geometry->type == urdf::Geometry::MESH) {
urdf::Mesh* mesh = dynamic_cast<urdf::Mesh*>(collision->geometry.get());
colStruct.mesh_filename = mesh->filename;
result = GetMeshLinkdimensions(mesh->filename, colStruct);
if (result != 0) {
printf("Failed to get mesh dimensions for %s\n", mesh->filename.c_str());
return result;
}
}
for (int i = 0; i < obbCnt; i++) {
colStruct.obbLinkIndexList.push_back(maxObbCnt);
maxObbCnt++;
}
colStruct.link_index = linkIndex;
colStruct.joint_count = 0;
if (link->name == "base_link") {
rootLinkIndex_ = linkIndex;
colStruct.parent_link_index = -1;
colStruct.rotation = Quaterniond::Identity();
colStruct.offset = Vector3d::Zero();
printf("设置根链接: %s, 索引: %d 四元数: (%.4f, %.4f, %.4f, %.4f)\n", colStruct.link_name.c_str(), linkIndex,
colStruct.rotation.x(), colStruct.rotation.y(), colStruct.rotation.z(), colStruct.rotation.w());
}
collision_structures_.push_back(colStruct);
linkIndex++;
}
}
return result;
}
void RobotDescription::UpdatePolyhedrons()
{
int linkIndex = rootLinkIndex_;
CollisionModel *colStruct = &collision_structures_[linkIndex];
std::vector<JointsModel *> jointList;
int index = 0;
int maxJointCount = 0;
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
}
JointsModel *jointInfo = jointList[index];
Quaterniond rotation = collision_structures_[jointInfo->parent_link].rotation;
Vector3d offset = collision_structures_[jointInfo->parent_link].offset;
index++;
linkIndex = jointInfo->child_link;
colStruct = &collision_structures_[linkIndex];
offset = offset + rotation * jointInfo->nextLinkOffset;
colStruct->rotation = rotation;
colStruct->offset = offset;
for (size_t i = 0; i < colStruct->obbModelList.size(); i++) {
OBB obb = gjk_interface::updateOBBFromPoints(colStruct->obbModelList[i],
offset,
rotation);
printf("更新链接 %s 的 OBB:\n", colStruct->link_name.c_str());
printf("中心点: (%.4f, %.4f, %.4f)\n", obb.center(0), obb.center(1), obb.center(2));
/*printf("轴向:\n");
for (int j = 0; j < 3; j++) {
printf(" (%.4f, %.4f, %.4f)\n", obb.axis[j].x(), obb.axis[j].y(), obb.axis[j].z());
}
printf("半尺寸: (%.4f, %.4f, %.4f)\n", obb.halfExtent[0], obb.halfExtent[1], obb.halfExtent[2]);*/
}
}
}
int RobotDescription::InitLinkCollisionDetectMatrix(const std::string& srdf_str)
{
g_linkCollisionDetectMatrix = new bool[maxObbCnt * maxObbCnt];
for (int i = 0; i < maxObbCnt; ++i) {
for (int j = i + 1; j < maxObbCnt; ++j) {
g_linkCollisionDetectMatrix[i * maxObbCnt + j] = true;
}
}
tinyxml2::XMLDocument doc;
tinyxml2::XMLError error = doc.Parse(srdf_str.c_str());
if (error != tinyxml2::XML_SUCCESS) {
printf("Failed to parse SRDF: %s, length: %ld\n", doc.ErrorStr(), srdf_str.length());
return -1;
}
// 获取根节点<robot>
tinyxml2::XMLElement* robot_root = doc.FirstChildElement("robot");
if (!robot_root) {
printf("SRDF has no <robot> root node\n");
return -1;
}
int disable_count = 0;
for (tinyxml2::XMLElement* dc_elem = robot_root->FirstChildElement("disable_collisions");
dc_elem;
dc_elem = dc_elem->NextSiblingElement("disable_collisions")) {
std::string link1 = dc_elem->Attribute("link1");
std::string link2 = dc_elem->Attribute("link2");
int link1Index = linkCollisionMap_.find(link1) != linkCollisionMap_.end() ? linkCollisionMap_[link1] : -1;
int link2Index = linkCollisionMap_.find(link2) != linkCollisionMap_.end() ? linkCollisionMap_[link2] : -1;
if (link1Index != -1 && link2Index != -1) {
CollisionModel* colStruct1 = &collision_structures_[link1Index];
CollisionModel* colStruct2 = &collision_structures_[link2Index];
for (int obb1Idx : colStruct1->obbLinkIndexList) {
for (int obb2Idx : colStruct2->obbLinkIndexList) {
g_linkCollisionDetectMatrix[obb1Idx * maxObbCnt + obb2Idx] = false;
g_linkCollisionDetectMatrix[obb2Idx * maxObbCnt + obb1Idx] = false;
}
}
}
disable_count++;
}
printf("Initialized link collision detect matrix, disabled %d collision pairs. total %d\n", disable_count * 2, maxObbCnt * maxObbCnt);
for (int i = 0; i < maxObbCnt; ++i) {
for (int j = 0; j < maxObbCnt; ++j) {
if (g_linkCollisionDetectMatrix[i * maxObbCnt + j]) {
printf("true ");
} else {
printf("false ");
}
}
printf("\n");
}
return 0;
}
RobotDescription::RobotDescription(const std::string &urdf, const std::string &srdf)
{
urdf::Model urdf_model;
if (!urdf_model.initString(urdf)) {
printf("无法解析URDF模型\n");
return;
}
InitCollisionStructureList(urdf_model);
InitJoint(urdf_model);
UpdatePolyhedrons();
InitLinkCollisionDetectMatrix(srdf);
}
RobotDescription::~RobotDescription()
{
// 清理资源（如果有的话）
delete g_linkCollisionDetectMatrix;
}
/**
* @brief 以 std::string 形式读取文件全部内容
* @param file_path 文件绝对路径或相对路径
* @return 文件内容的 std::string
* @throws 若文件不存在、无法打开或读取失败，抛出 std::runtime_error
*/
std::string readFileToString(const std::string& file_path) {
// 1. 打开文件（二进制模式避免换行符转换，确保内容完整）
std::ifstream file(file_path, std::ios::in | std::ios::binary);
if (!file.is_open()) {
throw std::runtime_error("无法打开文件：" + file_path + "（可能路径错误或权限不足）\n");
}
// 2. 读取文件内容到 string
std::string content;
try {
// 定位到文件末尾，获取文件大小
file.seekg(0, std::ios::end);
// 预留内存（避免多次扩容，提升效率）
content.reserve(static_cast<size_t>(file.tellg()));
// 回到文件开头
file.seekg(0, std::ios::beg);
// 用迭代器读取全部内容（高效且简洁）
content.assign(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>());
} catch (const std::exception& e) {
file.close(); // 异常时确保文件关闭
throw std::runtime_error("读取文件失败：" + file_path + "（错误信息：" + e.what() + "）\n");
}
// 3. 关闭文件（ifstream 析构时会自动关闭，但显式关闭更严谨）
file.close();
// 4. 可选：检查内容是否为空（根据需求决定是否抛出异常）
if (content.empty()) {
std::cerr << "[警告] 文件内容为空：" << file_path << std::endl;
// 若需要严格检查，可抛出异常：
// throw std::runtime_error("文件内容为空：" + file_path);
}
return content;
}
void searchRecursive(const fs::path& dir, const std::string& target, std::string& result, std::string& result_dir) {
for (const auto& entry : fs::directory_iterator(dir)) {
if (entry.is_directory()) {
searchRecursive(entry.path(), target, result, result_dir); // 递归子目录
if (!result.empty()) return; // 找到后提前返回
} else if (entry.is_regular_file() && entry.path().filename() == target) {
result = entry.path().string();
result_dir = entry.path().parent_path().string();
return;
}
}
}
std::string findFileInCurrentDir(const std::string& target_filename, std::string& result_dir) {
// 获取当前工作目录
std::string current_dir;
try {
current_dir = fs::current_path().string();
} catch (const fs::filesystem_error& e) {
throw std::runtime_error("无法获取当前目录：" + std::string(e.what()));
}
// 遍历当前目录下的所有文件（不递归子目录）
try {
std::string found_path;
searchRecursive(current_dir, target_filename, found_path, result_dir);
if (!found_path.empty()) {
return found_path; // 找到文件，返回路径
}
} catch (const fs::filesystem_error& e) {
throw std::runtime_error("遍历目录失败：" + std::string(e.what()));
}
// 未找到文件
return "";
}
int main(int argc, char *argv[])
{
UNUSED(argc);
UNUSED(argv);
// 示例URDF和SRDF字符串
std::string urdf_dir = "";
std::string srdf_dir = "";
std::string urdf_string = readFileToString(findFileInCurrentDir("FHrobot.urdf", urdf_dir));
std::string srdf_string = readFileToString(findFileInCurrentDir("FHrobot.srdf", srdf_dir));
printf("URDF路径: %s\n", urdf_dir.c_str());
printf("SRDF路径: %s\n", srdf_dir.c_str());
// 创建RobotDescription对象
RobotDescription robot_description(urdf_string, srdf_string);
// 其他逻辑...
return 0;
}