From b77c182d0534bd3ec4c27677ef9535a2b6edaddc Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Fri, 7 Aug 2015 17:25:20 +0200
Subject: [PATCH] m

---
 data/roms/comlArm.erom                        | 99998 ++++++++--------
 data/roms/comlLeg.erom                        | 99998 ++++++++--------
 data/roms/comrArm.erom                        | 99998 ++++++++--------
 data/roms/comrLeg.erom                        | 99998 ++++++++--------
 script/admissibleRootPositionsFromEffector.py |    38 +-
 5 files changed, 200030 insertions(+), 200000 deletions(-)

diff --git a/data/roms/comlArm.erom b/data/roms/comlArm.erom
index b0e2b6b..e2c4ef2 100644
--- a/data/roms/comlArm.erom
+++ b/data/roms/comlArm.erom
@@ -1,49999 +1,49999 @@
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diff --git a/data/roms/comlLeg.erom b/data/roms/comlLeg.erom
index 06c4def..3b8c5bb 100644
--- a/data/roms/comlLeg.erom
+++ b/data/roms/comlLeg.erom
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diff --git a/data/roms/comrArm.erom b/data/roms/comrArm.erom
index 4159480..0c8afbe 100644
--- a/data/roms/comrArm.erom
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diff --git a/data/roms/comrLeg.erom b/data/roms/comrLeg.erom
index b7abd80..fba14b1 100644
--- a/data/roms/comrLeg.erom
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+0.184274694846,0.087386949596,0.386231629381
+0.212988403355,-0.0443973658755,0.529784785602
+-0.426458120267,0.154353050736,0.316688495812
+0.344481631053,0.120359571554,0.3957076483
+0.0954044329806,0.115221218533,0.528472786454
+-0.214047081532,0.188678455222,0.133669656333
+-0.240135233055,0.0608659191161,0.412756133159
+-0.212057508975,0.229764419246,0.495152048351
+-0.237997434113,0.0954341813925,0.0614200192725
+-0.36330794042,0.0701866520304,0.177292957596
+-0.048230749553,0.155198891848,0.201945668006
+-0.290288428945,0.169624229373,0.143663620614
+-0.251655882655,0.143207002288,0.154508393818
diff --git a/script/admissibleRootPositionsFromEffector.py b/script/admissibleRootPositionsFromEffector.py
index aa2d654..95f118b 100644
--- a/script/admissibleRootPositionsFromEffector.py
+++ b/script/admissibleRootPositionsFromEffector.py
@@ -65,16 +65,46 @@ q_0 = fullBody.getCurrentConfig ()
 q_0[0:7] = [0,0,0, 1, 0, 0, 0]
 fullBody.setCurrentConfig (q_0)
 
+import numpy as np
+effectorName = rfoot
+limbId = rLegId
+q = fullBody.getSample(limbId, 1)
+fullBody.setCurrentConfig(q) #setConfiguration matching sample
+qEffector = fullBody.getJointPosition(effectorName)
+q0 = quat.Quaternion(qEffector[3:7])
+rot = q0.toRotationMatrix() #compute rotation matrix world -> local
+p = qEffector[0:3] #(0,0,0) coordinate expressed in effector fram
+rm=np.zeros((4,4))
+for i in range(0,3):
+	for j in range(0,3):
+		rm[i,j] = rot[i,j]
+for i in range(0,3):
+	rm[i,3] = qEffector[i]
+rm[3,3] = 1
+invrm = np.linalg.inv(rm)
+p = invrm.dot([0,0,0,1])
+
+
+
 def printRootPosition(limbId, effectorName, nbSamples):
 	f1=open('../data/roms/com'+limbId+'.erom', 'w+')
 	for i in range(0,nbSamples-1):
 		q = fullBody.getSample(limbId, i)
 		fullBody.setCurrentConfig(q) #setConfiguration matching sample
 		qEffector = fullBody.getJointPosition(effectorName)
-		#~ q0 = quat.Quaternion(qEffector[3:7])
-		#~ rot = q0.toRotationMatrix().transpose() #compute rotation matrix world -> local
-		p = qEffector[0:3] #(0,0,0) coordinate expressed in effector frame
-		f1.write(str(-p[0]) + "," + str(-p[1]) + "," + str(-p[2]) + "\n")
+		q0 = quat.Quaternion(qEffector[3:7])
+		rot = q0.toRotationMatrix() #compute rotation matrix world -> local
+		p = qEffector[0:3] #(0,0,0) coordinate expressed in effector fram
+		rm=np.zeros((4,4))
+		for i in range(0,3):
+			for j in range(0,3):
+				rm[i,j] = rot[i,j]
+		for i in range(0,3):
+			rm[i,3] = qEffector[i]
+		rm[3,3] = 1
+		invrm = np.linalg.inv(rm)
+		p = invrm.dot([0,0,0,1])
+		f1.write(str(p[0]) + "," + str(p[1]) + "," + str(p[2]) + "\n")
 	f1.close()
 
 printRootPosition(rLegId, rfoot, nbSamples)
-- 
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