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<!--
3jsbot code stencil
Implementation of robot kinematics, control, and decision making
in HTML5/JavaScript and threejs
@author odestcj / https://github.com/odestcj
Forgive my coding style. I am still a typedef struct kind of guy.
Need to get a handle on all of the global variables... in the future.
-->
<html>
<body>
<!-- //////////////////////////////////////////////////
///// JAVASCRIPT INCLUDES
////////////////////////////////////////////////// -->
<!-- threejs - https://github.com/mrdoob/three.js/ - for 3D rendering -->
<script src="js/three.min.js"></script>
<!-- threejs camera controls helpers -->
<script src="js/TrackballControls.js"></script>
<script src="js/OrbitControls.js"></script>
<!-- threejs keyboard input helper -->
<script src="js/THREEx.KeyboardState.js"></script>
<!-- numericjs - https://github.com/sloisel/numeric - for matrix inversion -->
<script src="js/numeric-1.2.6.js"></script>
<!-- definition of robot kinematics -->
<!-- CS148: change this script pointer to change the robot definition -->
<!--
<script src="robots/robot_urdf_example.js"></script>
<script src="robots/robot_crawler.js"></script>
-->
<script src="robots/robot_br2.js"></script>
<!-- 3jsbot includes -->
<script src="3jsbot.js"></script>
<!--
<script src="3jsbot_potential_field.js"></script>
<script src="rrt_canvas/3jsbot_rrt_connect.js"></script>
-->
<script src="3jsbot_collision.js"></script>
<script src="rrt_canvas/3jsbot_rrt_connect.js"></script>
<script src="worlds/world_basic.js"></script>
<script src="3jsbot_controls.js"></script>
<script src="3jsbot_inverse_kinematics.js"></script>
<script src="3jsbot_forward_kinematics.js"></script>
<script src="3jsbot_threejs.js"></script>
<script src="3jsbot_userinput.js"></script>
<script src="3jsbot_matrix.js"></script>
<script src="3jsbot_quaternion.js"></script>
<script src="3jsbot_pd_control.js"></script>
<script>
//////////////////////////////////////////////////
///// MAIN FUNCTION CALLS
//////////////////////////////////////////////////
// 3jsbot uses init() to initialize threejs scene, user input, and robot kinematics
// CS148: you should use my_init() instead
init();
// 3jsbot uses animate() as the main animation loop maintained by threejs
// CS148: you should use my_animate() instead
animate();
// CS148: my_animate is where your robot's controls and movement are updated over time
function my_init() {
init_robot(); // initialize robot kinematics
// CS148: INITIAL GETTING FAMILIAR CODE (START HERE)
var local_spacing = 0.9; // variables declared with "var" are local
global_spacing = 0.9; // variables declared with "var" are global
my_object = {}; // objects can be created with braces
my_object.university = "Brown"; // create object property with an assignment
my_object.course_number = 148;
my_object["subject"] = "robotics";
if (typeof copied_object === 'undefined') { // if my_object does not already exist
console.log(my_object); // check it out on the console
}
// objects are copied by reference
copied_object = my_object;
copied_object.subject = "autonomous_robotics"; // what is my_object.subject on the console?
my_array = [8, 6, 7, 5, 3, 0, 9];
my_array[6] = 'ni-i-i-ine';
var i; // local variable
for (i=0;i<my_array.length;i++) {
console.log(my_array[i]);
}
robot_path_traverse_idx = 0;
textbar = document.createElement('div');
textbar.style.position = 'absolute';
//textbar.style.zIndex = 1; // if you still don't see the label, try uncommenting this
textbar.style.width = window.innerWidth-10;
textbar.style.height = 20;
textbar.style.backgroundColor = "black";
textbar.style.color = "#00ff00";
textbar.innerHTML = "Welcome to 3jsbot. I want to see some text. Too much coffee?";
textbar.style.top = 10 + 'px';
textbar.style.left = 10 + 'px';
document.body.appendChild(textbar);
robot_set_planning_scene();
// CS148: INITIAL GETTING FAMILIAR CODE (END HERE)
}
function init_robot() {
// ASSUME: robot kinematics are described separate js file (eg., "robot_urdf_example.js")
// initialize and create threejs mesh objects for robot links
init_robot_links();
// initialize robot joints and create threejs mesh objects for robot joints and form kinematic hiearchy
init_robot_joints();
generating_motion_plan = false;
generate_motion_plan = false;
// initialize inverse kinematics target location
ik_target = [[0],[0.8],[1.0],[1]];
}
// CS148: nothing to add here
function init_robot_links() {
for (x in robot.links) {
robot.links[x].name = x;
}
// CS148: do not remove, this is used to create threejs geometries
init_robot_links_geoms();
// initialize controls for robot base link
robot.control = {xyz: [0,0,0], rpy:[0,0,0]};
}
// CS148: add kinematic hierarchy in this function
function init_robot_joints() {
// build kinematic hierarchy by looping over each joint in the robot
// (object fields can be index through array-style indices, object[field] = property)
// and insert threejs scene graph (each joint and link are directly connect to scene root)
// NOTE: kinematic hierarchy is maintained independently by this code, not threejs
// NOTE: simpleApplyMatrix can be used to set threejs transform for a rendered object
var x,tempmat,link;
for ( link in robot.links )
robot.links[link].children = [];
for (x in robot.joints) {
robot.joints[x].servo = {};
robot.joints[x].p_desired = 0;
robot.joints[x].angle = 0;
robot.joints[x].control = 0;
// give the joint its name as an id
robot.joints[x].name = x;
robot.links[ robot.joints[x].parent ].children.push(x); // add joint to list of link's children
if( robot.joints[x].child != undefined )
robot.links[robot.joints[x].child].parent = x;
}
// CS148: do not remove, this is used to create threejs geometries
init_robot_joints_geoms();
}
//////////////////////////////////////////////////
///// ANIMATION AND INTERACTION LOOP
//////////////////////////////////////////////////
// CS148: my_animate is where your robot's controls and movement are updated over time
function my_animate() {
// CS148: INITIAL GETTING FAMILIAR CODE (START HERE)
// jsmat is how we will represent matrices with index notation
// such that matrix[row][column] is the indexing
var jsmat = [
[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
];
if( typeof my_animate.state == 'undefined' ) // hold the current state of pieces as data in the function object itself
my_animate.state = jsmat;
// keyboard is threejs helper for reading keyboard state
if (keyboard.pressed("w"))
{
textbar.innerHTML = "moving up"; // make the pieces move up
jsmat[1][3] = my_animate.state[1][3] + .1;
jsmat[2][3] = my_animate.state[2][3];
my_animate.state = jsmat;
}
else if (keyboard.pressed("x"))
{
textbar.innerHTML = "pieces stopped"; // stop jittering the pieces
jsmat[1][3] = my_animate.state[1][3];
jsmat[2][3] = my_animate.state[2][3];
}
else if (keyboard.pressed("s"))
{
textbar.innerHTML = "moving down"; // move pieces down
jsmat[1][3] = my_animate.state[1][3] - .1;
jsmat[2][3] = my_animate.state[2][3];
my_animate.state = jsmat;
}
else if (keyboard.pressed("d"))
{
textbar.innerHTML = "moving left"; // move left (whatever direction that is)
jsmat[1][3] = my_animate.state[1][3];
jsmat[2][3] = my_animate.state[2][3] + .1;
my_animate.state = jsmat;
}
else if (keyboard.pressed("a"))
{
textbar.innerHTML = "moving right"; // move left (whatever direction that is)
jsmat[1][3] = my_animate.state[1][3];
jsmat[2][3] = my_animate.state[2][3] - .1;
my_animate.state = jsmat;
}
else
{
textbar.innerHTML = "pieces jittering, use the keys a,w,s or d to move the pieces around and x to stop the jittering";
jsmat[1][3] = my_animate.state[1][3] + Math.random()*0.02;
jsmat[2][3] = my_animate.state[2][3] + Math.random()*0.02;
}
var spacing = 0.9; // variables declared with "var" are local
// dirty way to get number of keys in an object
jsmat[0][3] = -Object.keys(robot.joints).length*spacing/2;
for (x in robot.joints) {
threemat = matrix_2Darray_to_threejs(jsmat);
simpleApplyMatrix(robot.joints[x].geom,threemat);
jsmat[0][3] += spacing;
}
jsmat[0][3] = -Object.keys(robot.joints).length*spacing/2;
for (x in robot.links) {
threemat = matrix_2Darray_to_threejs(jsmat);
simpleApplyMatrix(robot.links[x].geom,threemat);
jsmat[0][3] += spacing;
}
// CS148: INITIAL GETTING FAMILIAR CODE (END)
// ROBOT DYNAMICS
// apply robot controls to robot configuration (assuming pure kinematics for now)
robot_apply_controls();
// DRAW ROBOT
// forward kinematics over robot links
robot_forward_kinematics();
// HANDLE USER CONTROLS
// handle user input
user_input();
// UPDATE AUTONOMOUS CONTROLS
// proportional-derivative control
if (update_pd)
robot_pd_control();
update_pd = false;
// inverse kinematics
//robot_inverse_kinematics(ik_target, "forearm_right_yaw", ik_local);
robot_inverse_kinematics(ik_target, "forearm_right_yaw", [[0],[0],[0.5],[1]]);
// configuration space motion planning
if ((generate_motion_plan) && (!generating_motion_plan)) {
robot_rrt_planner_init();
generating_motion_plan = true;
generate_motion_plan = false;
}
if (generating_motion_plan) {
robot_rrt_planner_iterate();
if (finished) {
//alert("home: reached");
generating_motion_plan = false;
}
}
// Monte Carlo Localization (needs display map and simulated range sensing)
// if we have time this semester
//robot_potential_field(x_desired);
// potential field navigation (needs display_map for collisions)
// if we have time this semester
//robot_potential_field(x_desired);
robot_iscollision();
}
</script>
</body>
</html>