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/** |
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* @file |
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* @copyright Copyright (c) 2022, LAAS-CNRS, Toward, PalRobotics |
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* @brief |
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*/ |
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#include "aig/biped_ig.hpp" |
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#include <algorithm> |
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#include <cctype> |
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#include "aig/contact6d.hpp" |
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#include "aig/dyna_com.hpp" |
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#include "pinocchio/algorithm/center-of-mass.hpp" |
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#include "pinocchio/algorithm/centroidal.hpp" |
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#include "pinocchio/parsers/srdf.hpp" |
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#include "pinocchio/parsers/urdf.hpp" |
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namespace aig { |
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BipedIGSettings makeSettingsFor(const std::string &path_to_robots, |
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const std::string &robot_name) { |
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BipedIGSettings robot_settings; |
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std::string robot_name_lower = robot_name; |
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std::transform(robot_name_lower.begin(), robot_name_lower.end(), |
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robot_name_lower.begin(), |
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[](unsigned char c) { return std::tolower(c); }); |
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if (robot_name_lower == "talos") { |
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robot_settings.urdf = path_to_robots + "/robots/talos_reduced.urdf"; |
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robot_settings.srdf = path_to_robots + "/srdf/talos.srdf"; |
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robot_settings.left_hip_joint_name = "leg_left_1_joint"; |
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robot_settings.right_hip_joint_name = "leg_right_1_joint"; |
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robot_settings.left_knee_joint_name = "leg_left_4_joint"; |
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robot_settings.right_knee_joint_name = "leg_right_4_joint"; |
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robot_settings.left_ankle_joint_name = "leg_left_5_joint"; |
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robot_settings.right_ankle_joint_name = "leg_right_5_joint"; |
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robot_settings.left_foot_frame_name = "leg_left_sole_fix_joint"; |
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robot_settings.right_foot_frame_name = "leg_right_sole_fix_joint"; |
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} else { |
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throw std::runtime_error( |
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"biped_ig::aig::make_settings_for: No default settings for " |
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"a robot with this name were specified yet."); |
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} |
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return robot_settings; |
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} |
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BipedIG::BipedIG() { |
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// initialized by default: |
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// model_ |
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// data_ |
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// settings_ |
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// left_leg_ |
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// right_leg_ |
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// left_arm_ |
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// right_arm_ |
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} |
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BipedIG::BipedIG(const BipedIGSettings &settings) { initialize(settings); } |
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void BipedIG::initialize(const BipedIGSettings &settings) { |
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// Copy the settings internally. |
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settings_ = settings; |
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// Check if the urdf and the srdf file exists or not. |
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bool urdf_file_exists = false; |
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bool srdf_file_exists = false; |
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{ |
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std::ifstream f(settings_.urdf.c_str()); |
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urdf_file_exists = f.good(); |
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} |
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{ |
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std::ifstream f(settings_.srdf.c_str()); |
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srdf_file_exists = f.good(); |
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} |
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// Build the robot model. |
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if (urdf_file_exists) { |
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pinocchio::urdf::buildModel(settings_.urdf, |
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pinocchio::JointModelFreeFlyer(), model_); |
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} else if (settings_.urdf != "") { |
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pinocchio::urdf::buildModelFromXML( |
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settings_.urdf, pinocchio::JointModelFreeFlyer(), model_); |
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} else { |
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throw std::runtime_error("BipedIG::BipedIG(): settings_.urdf is empty"); |
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} |
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// Build pinocchio cache. |
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data_ = pinocchio::Data(model_); |
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// Extract the CoM to Waist level arm. |
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if (srdf_file_exists) { |
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pinocchio::srdf::loadReferenceConfigurations(model_, settings_.srdf, false); |
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} else if (settings_.srdf != "") { |
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std::stringstream buffer; |
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buffer << settings_.srdf; |
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pinocchio::srdf::loadReferenceConfigurationsFromXML(model_, buffer, false); |
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} else { |
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throw std::runtime_error("BipedIG::BipedIG(): settings_.srdf is empty"); |
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} |
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q0_ = model_.referenceConfigurations["half_sitting"]; |
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set_com_from_waist(q0_); |
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configureLegs(); |
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aig::DynaCoMSettings dyn_settings; |
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dyn_settings.urdf = settings_.urdf; |
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dynamics_ = aig::DynaCoM(dyn_settings); |
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} |
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void BipedIG::configureLegs() { |
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LegIGSettings left_leg_settings, right_leg_settings; |
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pinocchio::JointIndex left_hip_id = |
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model_.getJointId(settings_.left_hip_joint_name); |
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pinocchio::JointIndex left_knee_id = |
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model_.getJointId(settings_.left_knee_joint_name); |
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pinocchio::JointIndex left_ankle_id = |
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model_.getJointId(settings_.left_ankle_joint_name); |
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pinocchio::JointIndex right_hip_id = |
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model_.getJointId(settings_.right_hip_joint_name); |
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pinocchio::JointIndex right_knee_id = |
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model_.getJointId(settings_.right_knee_joint_name); |
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pinocchio::JointIndex right_ankle_id = |
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model_.getJointId(settings_.right_ankle_joint_name); |
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pinocchio::FrameIndex leftSoleID = |
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model_.getFrameId(settings_.left_foot_frame_name); |
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pinocchio::FrameIndex rightSoleID = |
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model_.getFrameId(settings_.right_foot_frame_name); |
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left_leg_settings.hip_from_waist = |
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model_.jointPlacements[left_hip_id].translation(); |
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left_leg_settings.knee_from_hip = |
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model_.jointPlacements[left_knee_id].translation(); |
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left_leg_settings.ankle_from_knee = |
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model_.jointPlacements[left_ankle_id].translation(); |
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left_leg_settings.ankle_from_foot = |
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-model_.frames[leftSoleID].placement.translation(); |
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left_leg_.initialize(left_leg_settings); |
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right_leg_settings.hip_from_waist = |
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model_.jointPlacements[right_hip_id].translation(); |
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right_leg_settings.knee_from_hip = |
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model_.jointPlacements[right_knee_id].translation(); |
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right_leg_settings.ankle_from_knee = |
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model_.jointPlacements[right_ankle_id].translation(); |
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right_leg_settings.ankle_from_foot = |
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-model_.frames[rightSoleID].placement.translation(); |
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right_leg_.initialize(right_leg_settings); |
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// Get the legs joints configuration for the test |
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lleg_idx_qs_ = model_.idx_qs[left_hip_id]; |
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rleg_idx_qs_ = model_.idx_qs[right_hip_id]; |
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} |
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pinocchio::SE3 BipedIG::computeBase(const Eigen::Vector3d &com, |
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const Eigen::Matrix3d &baseRotation) { |
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return pinocchio::SE3(baseRotation, com - baseRotation * com_from_waist_); |
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} |
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pinocchio::SE3 BipedIG::computeBase(const Eigen::Vector3d &com, |
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const pinocchio::SE3 &leftFoot, |
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const pinocchio::SE3 &rightFoot) { |
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double leftYawl, rightYawl; |
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leftYawl = pinocchio::log3(leftFoot.rotation())(2); |
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rightYawl = pinocchio::log3(rightFoot.rotation())(2); |
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return computeBase(com, Eigen::AngleAxisd((leftYawl + rightYawl) / 2, |
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Eigen::Vector3d(0, 0, 1)) |
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.toRotationMatrix()); |
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} |
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void BipedIG::solve(const pinocchio::SE3 &base, const pinocchio::SE3 &leftFoot, |
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const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, |
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Eigen::VectorXd &posture) { |
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posture = q0; |
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posture.head<3>() = base.translation(); |
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Eigen::Quaterniond quat(base.rotation()); |
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quat.normalize(); |
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posture.segment<4>(3) << quat.x(), quat.y(), quat.z(), quat.w(); |
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// Get the legs joints configuration for the test |
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posture.segment<6>(lleg_idx_qs_) = left_leg_.solve(base, leftFoot); |
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posture.segment<6>(rleg_idx_qs_) = right_leg_.solve(base, rightFoot); |
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} |
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void BipedIG::solve(const Eigen::Isometry3d &base, |
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const Eigen::Isometry3d &leftFoot, |
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const Eigen::Isometry3d &rightFoot, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture) { |
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pinocchio::SE3 root(base.matrix()); |
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pinocchio::SE3 LF(leftFoot.matrix()); |
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pinocchio::SE3 RF(rightFoot.matrix()); |
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solve(root, LF, RF, q0, posture); |
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} |
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void BipedIG::solve(const Eigen::Vector3d &com, const pinocchio::SE3 &leftFoot, |
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const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, |
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Eigen::VectorXd &posture, const double &tolerance, |
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const int &max_iterations) { |
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correctCoMfromWaist(com, leftFoot, rightFoot, q0, tolerance, max_iterations); |
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pinocchio::SE3 base = computeBase(com, leftFoot, rightFoot); |
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solve(base, leftFoot, rightFoot, q0, posture); |
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} |
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void BipedIG::solve(const Eigen::Vector3d &com, |
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const Eigen::Isometry3d &leftFoot, |
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const Eigen::Isometry3d &rightFoot, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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const double &tolerance, const int &max_iterations) { |
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pinocchio::SE3 LF(leftFoot.matrix()); |
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pinocchio::SE3 RF(rightFoot.matrix()); |
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solve(com, LF, RF, q0, posture, tolerance, max_iterations); |
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} |
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void BipedIG::solve(const Eigen::Vector3d &com, |
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const Eigen::Matrix3d &baseRotation, |
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const pinocchio::SE3 &leftFoot, |
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const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, |
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Eigen::VectorXd &posture, const double &tolerance, |
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const int &max_iterations) { |
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correctCoMfromWaist(com, leftFoot, rightFoot, q0, tolerance, max_iterations); |
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pinocchio::SE3 base = computeBase(com, baseRotation); |
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solve(base, leftFoot, rightFoot, q0, posture); |
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} |
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void BipedIG::solve(const Eigen::Vector3d &com, |
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const Eigen::Matrix3d &baseRotation, |
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const Eigen::Isometry3d &leftFoot, |
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const Eigen::Isometry3d &rightFoot, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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const double &tolerance, const int &max_iterations) { |
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pinocchio::SE3 LF(leftFoot.matrix()); |
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pinocchio::SE3 RF(rightFoot.matrix()); |
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solve(com, baseRotation, LF, RF, q0, posture, tolerance, max_iterations); |
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} |
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void BipedIG::derivatives(const Eigen::VectorXd &q1, const Eigen::VectorXd &q3, |
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Eigen::VectorXd &posture, Eigen::VectorXd &velocity, |
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Eigen::VectorXd &acceleration, const double &dt) { |
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Eigen::VectorXd velocity1(pinocchio::difference(model_, q1, posture) / dt); |
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Eigen::VectorXd velocity3(pinocchio::difference(model_, posture, q3) / dt); |
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velocity = pinocchio::difference(model_, q1, q3) / (2 * dt); |
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acceleration = (velocity3 - velocity1) / dt; |
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} |
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void BipedIG::solve(const std::array<pinocchio::SE3, 3> &bases, |
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const std::array<pinocchio::SE3, 3> &leftFeet, |
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const std::array<pinocchio::SE3, 3> &rightFeet, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, |
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const double &dt) { |
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Eigen::VectorXd q1, q3; |
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solve(bases[0], leftFeet[0], rightFeet[0], q0, q1); |
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solve(bases[1], leftFeet[1], rightFeet[1], q0, posture); |
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solve(bases[2], leftFeet[2], rightFeet[2], q0, q3); |
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derivatives(q1, q3, posture, velocity, acceleration, dt); |
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} |
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void BipedIG::solve(const std::array<Eigen::Isometry3d, 3> &bases, |
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const std::array<Eigen::Isometry3d, 3> &leftFeet, |
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const std::array<Eigen::Isometry3d, 3> &rightFeet, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, |
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const double &dt) { |
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Eigen::VectorXd q1, q3; |
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solve(bases[0], leftFeet[0], rightFeet[0], q0, q1); |
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solve(bases[1], leftFeet[1], rightFeet[1], q0, posture); |
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solve(bases[2], leftFeet[2], rightFeet[2], q0, q3); |
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derivatives(q1, q3, posture, velocity, acceleration, dt); |
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} |
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void BipedIG::solve(const std::array<Eigen::Vector3d, 3> &coms, |
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const std::array<pinocchio::SE3, 3> &leftFeet, |
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const std::array<pinocchio::SE3, 3> &rightFeet, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, |
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const double &dt, const double &tolerance, |
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const int &max_iterations) { |
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Eigen::VectorXd q1, q3; |
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solve(coms[0], leftFeet[0], rightFeet[0], q0, q1, tolerance, max_iterations); |
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solve(coms[1], leftFeet[1], rightFeet[1], q0, posture, tolerance, |
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max_iterations); |
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solve(coms[2], leftFeet[2], rightFeet[2], q0, q3, tolerance, max_iterations); |
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derivatives(q1, q3, posture, velocity, acceleration, dt); |
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} |
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void BipedIG::solve(const std::array<Eigen::Vector3d, 3> &coms, |
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const std::array<Eigen::Isometry3d, 3> &leftFeet, |
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const std::array<Eigen::Isometry3d, 3> &rightFeet, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, |
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const double &dt, const double &tolerance, |
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const int &max_iterations) { |
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Eigen::VectorXd q1, q3; |
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solve(coms[0], leftFeet[0], rightFeet[0], q0, q1, tolerance, max_iterations); |
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solve(coms[1], leftFeet[1], rightFeet[1], q0, posture, tolerance, |
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max_iterations); |
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solve(coms[2], leftFeet[2], rightFeet[2], q0, q3, tolerance, max_iterations); |
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derivatives(q1, q3, posture, velocity, acceleration, dt); |
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} // @TODO: Include the parameter tolerance in each method solve. and |
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// incorporate the correctCoMfromWaist in the methods solve. |
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void BipedIG::solve(const std::array<Eigen::Vector3d, 3> &coms, |
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const std::array<Eigen::Matrix3d, 3> &baseRotations, |
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const std::array<pinocchio::SE3, 3> &leftFeet, |
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const std::array<pinocchio::SE3, 3> &rightFeet, |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
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Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, |
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const double &dt, const double &tolerance, |
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const int &max_iterations) { |
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Eigen::VectorXd q1, q3; |
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solve(coms[0], baseRotations[0], leftFeet[0], rightFeet[0], q0, q1, tolerance, |
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max_iterations); |
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solve(coms[1], baseRotations[1], leftFeet[1], rightFeet[1], q0, posture, |
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tolerance, max_iterations); |
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solve(coms[2], baseRotations[2], leftFeet[2], rightFeet[2], q0, q3, tolerance, |
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max_iterations); |
322 |
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323 |
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derivatives(q1, q3, posture, velocity, acceleration, dt); |
324 |
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} |
325 |
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326 |
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void BipedIG::solve(const std::array<Eigen::Vector3d, 3> &coms, |
327 |
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const std::array<Eigen::Matrix3d, 3> &baseRotations, |
328 |
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const std::array<Eigen::Isometry3d, 3> &leftFeet, |
329 |
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const std::array<Eigen::Isometry3d, 3> &rightFeet, |
330 |
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const Eigen::VectorXd &q0, Eigen::VectorXd &posture, |
331 |
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Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, |
332 |
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const double &dt, const double &tolerance, |
333 |
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const int &max_iterations) { |
334 |
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Eigen::VectorXd q1, q3; |
335 |
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solve(coms[0], baseRotations[0], leftFeet[0], rightFeet[0], q0, q1, tolerance, |
336 |
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max_iterations); |
337 |
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solve(coms[1], baseRotations[1], leftFeet[1], rightFeet[1], q0, posture, |
338 |
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tolerance, max_iterations); |
339 |
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solve(coms[2], baseRotations[2], leftFeet[2], rightFeet[2], q0, q3, tolerance, |
340 |
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max_iterations); |
341 |
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|
342 |
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derivatives(q1, q3, posture, velocity, acceleration, dt); |
343 |
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} |
344 |
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345 |
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void BipedIG::set_com_from_waist(const Eigen::Vector3d &com_from_waist) { |
346 |
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com_from_waist_ = com_from_waist; |
347 |
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} |
348 |
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|
349 |
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void BipedIG::set_com_from_waist(const Eigen::VectorXd &q) { |
350 |
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Eigen::Quaterniond baseRotation(q(6), q(3), q(4), q(5)); |
351 |
|
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Eigen::Vector3d com_from_waist = |
352 |
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baseRotation.matrix().transpose() * |
353 |
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(pinocchio::centerOfMass(model_, data_, q) - q.head(3)); |
354 |
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set_com_from_waist(com_from_waist); |
355 |
|
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} |
356 |
|
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|
357 |
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void BipedIG::correctCoMfromWaist(const Eigen::Vector3d &com, |
358 |
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const pinocchio::SE3 &leftFoot, |
359 |
|
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const pinocchio::SE3 &rightFoot, |
360 |
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const Eigen::VectorXd &q0, |
361 |
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const double &tolerance, |
362 |
|
|
const int &max_iterations) { |
363 |
|
|
error_ << 1, 1, 1; |
364 |
|
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baseRotation_temp_ = computeBase(com, leftFoot, rightFoot).rotation(); |
365 |
|
|
int i = 0; |
366 |
|
|
while (error_.norm() > tolerance && i++ < max_iterations) { |
367 |
|
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solve(com, leftFoot, rightFoot, q0, posture_temp_); |
368 |
|
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com_temp_ = pinocchio::centerOfMass(model_, data_, posture_temp_); |
369 |
|
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error_ = com_temp_ - com; |
370 |
|
|
com_from_waist_ += baseRotation_temp_.transpose() * (1.2 * error_); |
371 |
|
|
} |
372 |
|
|
} |
373 |
|
|
// @TODO: Use this function to initialize the posture reference |
374 |
|
|
// @TODO: after some iterations, it converges geometrically. So, we can write |
375 |
|
|
// the exact value from the convergence. by doing that, we can reduce the |
376 |
|
|
// computation time and reduce the error. Or try An inner approximation. |
377 |
|
|
|
378 |
|
|
void BipedIG::correctCoMfromWaist(const Eigen::Vector3d &com, |
379 |
|
|
const Eigen::Isometry3d &leftFoot, |
380 |
|
|
const Eigen::Isometry3d &rightFoot, |
381 |
|
|
const Eigen::VectorXd &q0, |
382 |
|
|
const double &tolerance, |
383 |
|
|
const int &max_iterations) { |
384 |
|
|
pinocchio::SE3 LF(leftFoot.matrix()); |
385 |
|
|
pinocchio::SE3 RF(rightFoot.matrix()); |
386 |
|
|
correctCoMfromWaist(com, LF, RF, q0, tolerance, max_iterations); |
387 |
|
|
} |
388 |
|
|
|
389 |
|
|
// DYNAMICS |
390 |
|
|
|
391 |
|
|
void BipedIG::computeDynamics(const Eigen::VectorXd &posture, |
392 |
|
|
const Eigen::VectorXd &velocity, |
393 |
|
|
const Eigen::VectorXd &acceleration, |
394 |
|
|
const Eigen::Matrix<double, 6, 1> &externalWrench, |
395 |
|
|
bool flatHorizontalGround) { |
396 |
|
|
dynamics_.computeDynamics(posture, velocity, acceleration, externalWrench, |
397 |
|
|
flatHorizontalGround); |
398 |
|
|
} |
399 |
|
|
|
400 |
|
|
void BipedIG::computeNL(const double &w, const Eigen::VectorXd &posture, |
401 |
|
|
const Eigen::VectorXd &velocity, |
402 |
|
|
const Eigen::VectorXd &acceleration, |
403 |
|
|
const Eigen::Matrix<double, 6, 1> &externalWrench, |
404 |
|
|
bool flatHorizontalGround) { |
405 |
|
|
dynamics_.computeNL(w, posture, velocity, acceleration, externalWrench, |
406 |
|
|
flatHorizontalGround); |
407 |
|
|
} |
408 |
|
|
|
409 |
|
|
void BipedIG::computeNL(const double &w) { |
410 |
|
|
/** |
411 |
|
|
* In this function form, computeDynamics is suposed to have been called |
412 |
|
|
* before. |
413 |
|
|
*/ |
414 |
|
|
dynamics_.computeNL(w); |
415 |
|
|
} |
416 |
|
|
|
417 |
|
|
} // namespace aig |