% test Six axis force torque sensor
%% R1000
N=9;
% Dynamics parameters
link_mass = robot.m;
com_pos = robot.com;
link_inertia = robot.I;

%real traj
load("D:\1833128421\123同步文件夹\SixAxisFT\SixAxisForceTest2.mat");
index1 = 94470:115700;index2 = 228400:236700;index3 = 401500:414700;
FT_delta = double(data{1}.Values.data([index1,index2,index3],:));
Pos = double(data{2}.Values.data([index1,index2,index3],2:10));
% resample
dataLength = length(FT_delta);
FT_delta = FT_delta(mod(1:dataLength, 400) == 0,:);
Pos = Pos(mod(1:dataLength, 400) == 0,:);
thetalist = Pos;dthetalist = zeros(size(Pos));ddthetalist=dthetalist;

% Get general mass matrix
Glist=[];
for i = 1:N
    link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i);
    Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
    Glist = cat(3, Glist, Gb);
end

% get the CG at the world base frame
com_pos_R1 = robot.com_pos_R1;
com_pos_R2 = robot.com_pos_R2;
ct=[];
Mlist_CG_Base=[];
for i = 1:N
    if i == 1
        ct(:,i) = com_pos_R1(:,i);
    elseif i< 9
        ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
    else
        ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0.3157;0;0.05896]+com_pos_R1(:,i);
    end
    robot.Home.com(:,i) = ct(:,i);
    M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
    Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
end
% get the CG at the last GC frame
Mlist_CG=[];
for i = 1:N
    if i == 1
        Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
    else
        Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
    end
end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_CG = cat(3, Mlist_CG, M);


% Get the end efforce transformation in each joint reference frame
Mlist_ED = [];
for i = 1:N
    M = robot.T(:,:,i);
    Mlist_ED = cat(3, Mlist_ED, M);
end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_ED = cat(3, Mlist_ED, M);

%TODO: Get Slist form DH table method
% RRRRRRRRP
Slist=robot.slist;

Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N));
exf=[0;0;0;0;0;0];

% real traj
for i = 1:length(thetalist)
    [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
        = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
        [0;0;-9.806], exf, Mlist_CG, Glist, Slist);
    G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
    T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
    %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin  
    %why we need Mlist_ED
    %please explain this more
    F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
end

% init force and torque at home
zero_ = zeros(size(Pos));
thetalist = zero_;dthetalist = thetalist;ddthetalist=dthetalist;
for i = 1:length(thetalist)
    [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
        = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
        [0;0;-9.806], exf, Mlist_CG, Glist, Slist);
    G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
    T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
    %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin  
    %why we need Mlist_ED
    %please explain this more
    F_Simpack_Init(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
end

for i = 1:length(thetalist)
    F_Simpack_delta(:,:,i) = F_Simpack(:,:,i)-F_Simpack_Init(:,:,i);
end
% plot Torque
% above 2020b 
% F_Simpack = pagetranspose(F_Simpack);
% below 2020b
F_Simpack_delta = permute(F_Simpack_delta,[2 1 3]);
plot(thetalist(:,6),-reshape(F_Simpack_delta(7,5,:),[1,length(F_Simpack_delta)]));
% test = fileData6.data(:,(6*(8+1))+11*3-5);
% test_time = fileData6.data(:,6+1+11);
% hold on;plot(test_time,test)