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// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse, |
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// JRL, CNRS/AIST. |
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#include <dynamic-graph/command-bind.h> |
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#include <dynamic-graph/factory.h> |
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#include <dynamic-graph/pool.h> |
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#include <boost/assign/list_of.hpp> |
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#include <boost/numeric/conversion/cast.hpp> |
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#include <sot/core/feature-posture.hh> |
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#include <string> |
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namespace dg = ::dynamicgraph; |
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using dynamicgraph::sot::FeatureAbstract; |
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namespace dynamicgraph { |
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namespace sot { |
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using command::Command; |
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using command::Value; |
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class FeaturePosture::SelectDof : public Command { |
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public: |
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virtual ~SelectDof() {} |
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SelectDof(FeaturePosture &entity, const std::string &docstring) |
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: Command(entity, boost::assign::list_of(Value::UNSIGNED)(Value::BOOL), |
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docstring) {} |
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virtual Value doExecute() { |
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FeaturePosture &feature = static_cast<FeaturePosture &>(owner()); |
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std::vector<Value> values = getParameterValues(); |
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unsigned int dofId = values[0].value(); |
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bool control = values[1].value(); |
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feature.selectDof(dofId, control); |
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return Value(); |
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} |
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}; // class SelectDof |
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FeaturePosture::FeaturePosture(const std::string &name) |
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: FeatureAbstract(name), |
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state_(NULL, "FeaturePosture(" + name + ")::input(Vector)::state"), |
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posture_(0, "FeaturePosture(" + name + ")::input(Vector)::posture"), |
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postureDot_(0, "FeaturePosture(" + name + ")::input(Vector)::postureDot"), |
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activeDofs_(), |
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nbActiveDofs_(0) { |
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signalRegistration(state_ << posture_ << postureDot_); |
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errorSOUT.addDependency(state_); |
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jacobianSOUT.setConstant(Matrix()); |
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std::string docstring; |
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docstring = |
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" \n" |
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" Select degree of freedom to control\n" |
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" \n" |
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" input:\n" |
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" - positive integer: rank of degree of freedom,\n" |
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" - boolean: whether to control the selected degree of " |
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"freedom.\n" |
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" \n" |
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" Note: rank should be more than 5 since posture is " |
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"independent\n" |
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" from freeflyer position.\n" |
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" \n"; |
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addCommand("selectDof", new SelectDof(*this, docstring)); |
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} |
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FeaturePosture::~FeaturePosture() {} |
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unsigned int &FeaturePosture::getDimension(unsigned int &res, int) { |
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res = static_cast<unsigned int>(nbActiveDofs_); |
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return res; |
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} |
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dg::Vector &FeaturePosture::computeError(dg::Vector &res, int t) { |
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const dg::Vector &state = state_.access(t); |
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const dg::Vector &posture = posture_.access(t); |
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res.resize(nbActiveDofs_); |
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std::size_t index = 0; |
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for (std::size_t i = 0; i < activeDofs_.size(); ++i) { |
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if (activeDofs_[i]) { |
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res(index) = state(i) - posture(i); |
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index++; |
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} |
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} |
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return res; |
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} |
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dg::Matrix &FeaturePosture::computeJacobian(dg::Matrix &, int) { |
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throw std::runtime_error( |
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"jacobian signal should be constant." |
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" This function should never be called"); |
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} |
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dg::Vector &FeaturePosture::computeErrorDot(dg::Vector &res, int t) { |
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const Vector &postureDot = postureDot_.access(t); |
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res.resize(nbActiveDofs_); |
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std::size_t index = 0; |
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for (std::size_t i = 0; i < activeDofs_.size(); ++i) { |
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if (activeDofs_[i]) res(index++) = -postureDot(i); |
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} |
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return res; |
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} |
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void FeaturePosture::selectDof(unsigned dofId, bool control) { |
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const Vector &state = state_.accessCopy(); |
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const Vector &posture = posture_.accessCopy(); |
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std::size_t dim(state.size()); |
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if (dim != (std::size_t)posture.size()) { |
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throw std::runtime_error("Posture and State should have same dimension."); |
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} |
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// If activeDof_ vector not initialized, initialize it |
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if (activeDofs_.size() != dim) { |
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activeDofs_ = std::vector<bool>(dim, false); |
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nbActiveDofs_ = 0; |
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} |
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// Check that selected dof id is valid |
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if (dofId >= dim) { |
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std::ostringstream oss; |
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oss << "dof id should less than state dimension: " << dim << ". Received " |
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<< dofId << "."; |
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throw ExceptionAbstract(ExceptionAbstract::TOOLS, oss.str()); |
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} |
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if (control) { |
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if (!activeDofs_[dofId]) { |
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activeDofs_[dofId] = true; |
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nbActiveDofs_++; |
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} |
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} else { // control = false |
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if (activeDofs_[dofId]) { |
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activeDofs_[dofId] = false; |
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nbActiveDofs_--; |
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} |
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} |
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// recompute jacobian |
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Matrix J(Matrix::Zero(nbActiveDofs_, dim)); |
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std::size_t index = 0; |
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for (std::size_t i = 0; i < activeDofs_.size(); ++i) { |
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if (activeDofs_[i]) { |
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J(index, i) = 1; |
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index++; |
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} |
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} |
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jacobianSOUT.setConstant(J); |
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} |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeaturePosture, "FeaturePosture"); |
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} // namespace sot |
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} // namespace dynamicgraph |