以下是基于unitree机器狗的平地行走运动开发案例及代码:
#include <iostream>
#include <vector>
class Leg {
public:
Leg(double _L1, double _L2) : L1(_L1), L2(_L2) {}
void setJoint(double _joint1, double _joint2) {
joint1 = _joint1;
joint2 = _joint2;
}
std::vector<double> getIK(double x, double y, double z) {
std::vector<double> angles;
double xc = sqrt(x * x + y * y);
double deltaL = sqrt(xc * xc + (z - L1) * (z - L1));
if (deltaL > L1 + L2 || deltaL < abs(L1 - L2)) {
return angles;
}
double cosTheta2 = (deltaL * deltaL - L1 * L1 - L2 * L2) / (2 * L1 * L2);
double sinTheta2 = sqrt(1 - cosTheta2 * cosTheta2);
double theta2 = atan2(sinTheta2, cosTheta2);
double sinTheta1 = ((L1 + L2 * cosTheta2) * z - L2 * sinTheta2 * xc) / (xc * xc + (z - L1) * (z - L1));
double cosTheta1 = (xc - L2 * sinTheta2 * z) / (xc * xc + (z - L1) * (z - L1));
double theta1 = atan2(sinTheta1, cosTheta1);
angles.push_back(theta1);
angles.push_back(theta2);
return angles;
}
private:
double L1;
double L2;
double joint1;
double joint2;
};
class Robot {
public:
Robot() : legs{Leg(80, 200), Leg(80, 200), Leg(80, 200), Leg(80, 200)} {}
void setFootPos(int legIndex, double x, double y, double z) {
auto angles = legs[legIndex].getIK(x, y, z);
if (angles.size() == 2) {
legs[legIndex].setJoint(angles[0], angles[1]);
}
else {
std::cout << "Invalid Foot Position!" << std::endl;
}
}
void printJointAngles() {
for (auto leg : legs) {
std::cout << "Joint1: " << leg.joint1 << ", Joint2: " << leg.joint2 << std::endl;
}
}
private:
std::vector<Leg> legs;
};
int main() {
Robot robot;
robot.setFootPos(0, 180, 50, -100);
robot.setFootPos(1, 180, -50, -100);
robot.setFootPos(2, 80, -50, -100);
robot.setFootPos(3, 80, 50, -100);
robot.printJointAngles();
return 0;
}
这个代码实现了一个机器狗的四条腿,其中每条腿由两个关节组成。每个关节的状态由它们对应的Leg对象中的joint1和joint2成员变量表示。该程序演示了机器狗向指定位置移动时的腿部IK解决方案。它使用Leg类来实现IK计算,并使用Robot类来管理所有四条腿的运动。最后,程序打印出每个关节的角度,以便机器狗朝着目标位置行走。