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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/dyna_com.hpp" |
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#include <algorithm> |
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#include <cctype> |
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#include <eiquadprog/eiquadprog.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/algorithm/frames.hpp> |
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#include <pinocchio/parsers/urdf.hpp> |
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#include "aig/contact6d.hpp" |
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namespace aig { |
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DynaCoM::DynaCoM() {} |
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DynaCoM::DynaCoM(const DynaCoMSettings settings) { initialize(settings); } |
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void DynaCoM::initialize(const DynaCoMSettings 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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{ |
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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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// 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("DynaCoM::DynaCoM(): 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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mass_ = 0.0; |
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for (size_t k = 0; k < model_.inertias.size(); ++k) { |
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mass_ += model_.inertias[k].mass(); |
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} |
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weight_ = mass_ * model_.gravity981; |
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S_ << 0, -1, 1, 0; |
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Sz_.setZero(); |
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Sz_.diagonal().segment<4>(2) << 1, 1, 1, 1; |
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// matrix_sizes |
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uni_rows_ = 0; |
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fri_rows_ = 0; |
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cols_ = 0; |
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newton_euler_b_.resize(6); |
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} |
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const Eigen::Matrix<double, 6, 6> DynaCoM::toWorldCoPWrench( |
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pinocchio::SE3 pose) { |
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/** |
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* To compute any CoP, we need some surface. We compute the full |
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* robot CoP considering always a horizontal surface. So, just |
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* the vertical forces produce pressure on such surface. |
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* This method generates the adjoint matrix needed to transform |
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* local forces in some frame pose to a world wrench composed by |
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* the vertical force and the torque. Lateral forces are discarted |
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* because they do not contribute on this CoP. |
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* Still, notice that the lateral forces have an effect that is |
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* accounted in the non-linear effects. |
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*/ |
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soMs_ = pinocchio::SE3(pose.rotation(), Eigen::Vector3d::Zero()); |
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soXs_ = soMs_.toActionMatrixInverse().transpose(); |
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oMso_ = pinocchio::SE3(Eigen::Matrix3d::Identity(), pose.translation()); |
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oXso_ = oMso_.toActionMatrixInverse().transpose(); |
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return oXso_ * Sz_ * soXs_; |
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} |
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void DynaCoM::computeDynamics(const Eigen::VectorXd &posture, |
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const Eigen::VectorXd &velocity, |
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const Eigen::VectorXd &acceleration, |
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const Eigen::Matrix<double, 6, 1> &externalWrench, |
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bool flatHorizontalGround) { |
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/** |
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* @brief The external wrench is supposed to be expressed |
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* in the frame of the Center of mass. |
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* |
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* @brief The option flatHorizontalGround assumes that supporting contacts |
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* where previously defined. |
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* |
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* TODO: In the case when flatHorizontalGround = True, still, we could |
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* remove the assumption of horizontal ground by including the lateral force |
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* produced by the lateral components of the groundNormalReaction. |
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* |
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* For this we should know what is the direction normal to the ground. Then, |
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* we could change the flag name by `bool flatGround`. The normal direction |
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* can be obtained from the feet frames (both are the same in a flatGround) |
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* |
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*/ |
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pinocchio::computeCentroidalMomentumTimeVariation(model_, data_, posture, |
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velocity, acceleration); |
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acom_ = data_.dhg.linear() / mass_; |
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dL_ = data_.dhg.angular(); |
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L_ = data_.hg.angular(); |
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groundCoMForce_ = data_.dhg.linear() - weight_ - externalWrench.head<3>(); |
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groundCoMTorque_ = dL_ - externalWrench.tail<3>(); |
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if (flatHorizontalGround) |
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cop_ = |
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data_.com[0].head<2>() + (S_ * groundCoMTorque_.head<2>() - |
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groundCoMForce_.head<2>() * data_.com[0](2)) / |
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(groundCoMForce_(2)); |
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else { |
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distributeForce(groundCoMForce_, groundCoMTorque_, data_.com[0]); |
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// @TODO: IT could happen that the expected groundCoMwrench is not feasible, |
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// in such case, we should get the clossest possible and recompute the |
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// centroidal motion accordingly. So, groundCoMForce_(2) in the following |
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// should be updated. |
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// The case when no contact is active should also be managed. |
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CoPTorque_ = Eigen::Vector3d::Zero(); |
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for (std::string name : active_contact6ds_) { |
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std::shared_ptr<Contact6D> &contact = known_contact6ds_[name]; |
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CoPTorque_ += |
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(toWorldCoPWrench(contact->getPose()) * contact->appliedForce()) |
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.segment<3>(3); |
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} |
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cop_ = S_ * CoPTorque_.head<2>() / groundCoMForce_(2); |
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} |
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} |
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void DynaCoM::computeNL(const double &w, const Eigen::VectorXd &posture, |
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const Eigen::VectorXd &velocity, |
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const Eigen::VectorXd &acceleration, |
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const Eigen::Matrix<double, 6, 1> &externalWrench, |
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bool flatHorizontalGround) { |
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computeDynamics(posture, velocity, acceleration, externalWrench, |
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flatHorizontalGround); |
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computeNL(w); |
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} |
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void DynaCoM::computeNL(const double &w) { |
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/** |
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* In this function form, computeDynamics is supposed to have been called |
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* before. |
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*/ |
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n_ = acom_.head<2>() / (w * w) - data_.com[0].head<2>() + cop_; |
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} |
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// Contact management |
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// ////////////////////////////////////////////////////////////////// |
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void DynaCoM::addContact6d(const std::shared_ptr<Contact6D> &contact, |
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const std::string &name, const bool active) { |
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contact->setFrameID(model_.getFrameId(contact->getSettings().frame_name)); |
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contact->setPose(data_.oMf[contact->getFrameID()]); |
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known_contact6ds_.insert( |
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std::pair<std::string, std::shared_ptr<Contact6D>>(name, contact)); |
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addSizes(known_contact6ds_[name]); |
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if (active) activateContact6d(name); |
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} |
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void DynaCoM::removeContact6d(const std::string &name) { |
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knownID_ = known_contact6ds_.find(name); |
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if (knownID_ != known_contact6ds_.end()) { |
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removeSizes(known_contact6ds_[name]); |
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deactivateContact6d(name); |
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known_contact6ds_.erase(name); |
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} |
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} |
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void DynaCoM::addSizes(const std::shared_ptr<Contact6D> &contact) { |
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uni_rows_ += contact->uni_rows(); |
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fri_rows_ += contact->fri_rows(); |
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cols_ += contact->cols(); |
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resizeMatrices(); |
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} |
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void DynaCoM::removeSizes(const std::shared_ptr<Contact6D> &contact) { |
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uni_rows_ -= contact->uni_rows(); |
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fri_rows_ -= contact->fri_rows(); |
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cols_ -= contact->cols(); |
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resizeMatrices(); |
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} |
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void DynaCoM::resizeMatrices() { |
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unilaterality_A_.resize(uni_rows_, cols_); |
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unilaterality_b_.resize(uni_rows_); |
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friction_A_.resize(fri_rows_, cols_); |
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friction_b_.resize(fri_rows_); |
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regularization_A_.resize(cols_); |
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regularization_b_.resize(cols_); |
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newton_euler_A_.resize(6, cols_); |
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} |
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void DynaCoM::activateContact6d(const std::string &name) { |
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activeID_ = |
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std::find(active_contact6ds_.begin(), active_contact6ds_.end(), name); |
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knownID_ = known_contact6ds_.find(name); |
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if (activeID_ == active_contact6ds_.end()) { |
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if (knownID_ != known_contact6ds_.end()) { |
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active_contact6ds_.push_back(name); |
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std::cout << "activated contact " << name << std::endl; |
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return; |
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} else { |
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std::cout << "no contact called " << name << " was defined" << std::endl; |
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return; |
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} |
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} |
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std::cout << name << " was already active" << std::endl; |
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} |
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void DynaCoM::deactivateContact6d(const std::string &name) { |
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activeID_ = |
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std::find(active_contact6ds_.begin(), active_contact6ds_.end(), name); |
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if (activeID_ != active_contact6ds_.end()) { |
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known_contact6ds_[name]->deactivate(); |
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active_contact6ds_.erase(activeID_); |
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std::cout << "deactivated contact " << name << std::endl; |
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return; |
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} |
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std::cout << name << " was not active" << std::endl; |
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} |
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void DynaCoM::buildMatrices(const Eigen::Vector3d &groundCoMForce, |
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const Eigen::Vector3d &groundCoMTorque, |
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const Eigen::Vector3d &CoM) { |
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size_t uni_r, fri_r, cols; |
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uni_i_ = 0; |
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fri_i_ = 0; |
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j_ = 0; |
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for (std::string name : active_contact6ds_) { |
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std::shared_ptr<Contact6D> &contact = known_contact6ds_[name]; |
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uni_r = contact->uni_rows(); |
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fri_r = contact->fri_rows(); |
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cols = contact->cols(); |
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unilaterality_A_.block(uni_i_, j_, uni_r, cols) << contact->uni_A(); |
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unilaterality_A_.block(0, j_, uni_i_, cols).setZero(); |
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unilaterality_A_.block(uni_i_, 0, uni_r, j_).setZero(); |
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unilaterality_b_.segment(uni_i_, uni_r) << contact->uni_b(); |
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friction_A_.block(fri_i_, j_, fri_r, cols) << contact->fri_A(); |
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friction_A_.block(0, j_, fri_i_, cols).setZero(); |
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friction_A_.block(fri_i_, 0, fri_r, j_).setZero(); |
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friction_b_.segment(fri_i_, fri_r) << contact->fri_b(); |
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regularization_A_.segment(j_, cols) << contact->reg_A(); |
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regularization_b_.segment(j_, cols) << contact->reg_b(); |
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contact->updateNewtonEuler(CoM, pinocchio::updateFramePlacement( |
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model_, data_, contact->getFrameID())); |
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newton_euler_A_.block(0, j_, 6, cols) << contact->NE_A(); |
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uni_i_ += uni_r; |
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fri_i_ += fri_r; |
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j_ += cols; |
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} |
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newton_euler_b_ << groundCoMForce, groundCoMTorque; |
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} |
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// void DynaCoM::solveQP() { |
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// H_.resize(j_, j_); |
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// g_.resize(j_); |
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// C_.resize(uni_i_ + fri_i_, j_); |
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// u_.resize(uni_i_ + fri_i_); |
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// l_.resize(uni_i_ + fri_i_); |
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// A_.resize(6, j_); |
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// H_.setZero(); |
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// g_.setZero(); |
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// H_.diagonal() << (regularization_A_.cwiseAbs2()).segment(0, j_); |
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// C_ << unilaterality_A_.block(0, 0, uni_i_, j_), |
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// friction_A_.block(0, 0, fri_i_, j_); |
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// u_.setZero(); |
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// l_.setConstant(-inf_); |
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// A_ << newton_euler_A_.block(0, 0, 6, j_); |
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// b_ << newton_euler_b_; |
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// // Initialization of QP solver |
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// // std::cout << "matrix H:\n " << H_ << std::endl; |
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// // std::cout << "matrix A:\n " << A_ << std::endl; |
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// // std::cout << "matrix b:\n " << b_ << std::endl; |
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// // std::cout << "matrix C:\n " << C_ << std::endl; |
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// // std::cout<<"In solveQP, matrices made, starting proxQP"<<std::endl; |
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// proxsuite::proxqp::dense::isize dim = j_; |
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// proxsuite::proxqp::dense::isize n_eq(6); |
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// proxsuite::proxqp::dense::isize n_in(fri_i_ + uni_i_); |
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// proxsuite::proxqp::dense::QP<double> qp(dim, n_eq, n_in); |
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// qp.init(H_, g_, A_, b_, C_, l_, |
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// u_); //,std::nullopt,std::nullopt,std::nullopt |
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// qp.solve(); |
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// F_.resize(j_); |
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// F_ << qp.results.x; |
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// // Check results |
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// // std::cout << "solution:\n " << F_ << std::endl; |
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//} |
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void DynaCoM::solveQP() { |
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/* eiquadprog formulation : |
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min 0.5 * x G x + g0 x |
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s.t. |
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CE^T x + ce0 = 0 |
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CI^T x + ci0 >= 0 |
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*/ |
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/* proxsuite formulation : |
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min 0.5 * x H x + g^T x |
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s.t. |
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A x = b |
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l <= C x <= u |
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*/ |
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int dim(static_cast<int>(j_)); // number of variables |
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int n_eq(6); // number of equality constraints |
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int n_ineq( |
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static_cast<int>(fri_i_ + uni_i_)); // number of inequalities constraints |
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F_.resize(dim); |
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G_.resize(dim, dim); |
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g0_.resize(dim); |
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CE_.resize(dim, n_eq); |
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ce0_.resize(n_eq); |
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C_.resize(n_ineq, dim); |
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CI_.resize(dim, n_ineq); |
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ci0_.resize(n_ineq); |
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G_.setZero(); |
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G_.diagonal() << (regularization_A_.cwiseAbs2()).segment(0, dim); |
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g0_.setZero(); |
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CE_ << newton_euler_A_.block(0, 0, 6, dim).transpose(); |
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ce0_ << -newton_euler_b_; |
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C_ << unilaterality_A_.block(0, 0, static_cast<int>(uni_i_), dim), |
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friction_A_.block(0, 0, static_cast<int>(fri_i_), dim); |
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CI_ = -C_.transpose(); |
359 |
|
|
ci0_.setZero(); |
360 |
|
|
|
361 |
|
|
// std::cout<<"G "<<std::endl<<G_<<std::endl; |
362 |
|
|
// std::cout<<"g0 "<<std::endl<<g0_<<std::endl; |
363 |
|
|
// std::cout<<"CE "<<std::endl<<CE_<<std::endl; |
364 |
|
|
// std::cout<<"ce "<<std::endl<<ce0_<<std::endl; |
365 |
|
|
// std::cout<<"CI "<<std::endl<<CI_<<std::endl; |
366 |
|
|
// std::cout<<"ci "<<std::endl<<ci0_<<std::endl; |
367 |
|
|
|
368 |
|
|
activeSetSize_ = 0; |
369 |
|
|
// const double precision = |
370 |
|
|
eiquadprog::solvers::solve_quadprog(G_, g0_, CE_, ce0_, CI_, ci0_, F_, |
371 |
|
|
activeSet_, activeSetSize_); |
372 |
|
|
// std::cout<<"DynaCom::SolveQP, finished with precision = |
373 |
|
|
// "<<precision<<std::endl; |
374 |
|
|
} |
375 |
|
|
|
376 |
|
|
void DynaCoM::distribute() { |
377 |
|
|
Eigen::Index n, i = 0; |
378 |
|
|
for (auto contact_pair : known_contact6ds_) { |
379 |
|
|
if (std::find(active_contact6ds_.begin(), active_contact6ds_.end(), |
380 |
|
|
contact_pair.first) == active_contact6ds_.end()) { |
381 |
|
|
// Contact not active |
382 |
|
|
contact_pair.second->applyForce(Eigen::Matrix<double, 6, 1>::Zero()); |
383 |
|
|
} else { |
384 |
|
|
// contact is active |
385 |
|
|
n = static_cast<int>(contact_pair.second->cols()); |
386 |
|
|
contact_pair.second->applyForce(F_.segment(i, n)); |
387 |
|
|
i += n; |
388 |
|
|
} |
389 |
|
|
} |
390 |
|
|
} |
391 |
|
|
|
392 |
|
|
void DynaCoM::distributeForce(const Eigen::Vector3d &groundCoMForce, |
393 |
|
|
const Eigen::Vector3d &groundCoMTorque, |
394 |
|
|
const Eigen::Vector3d &CoM) { |
395 |
|
|
/** |
396 |
|
|
* |
397 |
|
|
* Make sure that the data of the dynaCoM |
398 |
|
|
* class has been updated to the correct robot |
399 |
|
|
* posture before executing this distribution. |
400 |
|
|
* |
401 |
|
|
* //@TODO: if the list of active contacts is empty, no force or torque |
402 |
|
|
* can be applied. Manage such case. We change the arguments? we throw |
403 |
|
|
* error? Check. |
404 |
|
|
* |
405 |
|
|
* */ |
406 |
|
|
|
407 |
|
|
buildMatrices(groundCoMForce, groundCoMTorque, CoM); |
408 |
|
|
// std::cout<<"it is at least building the matrices"<<std::endl; |
409 |
|
|
solveQP(); |
410 |
|
|
// std::cout<<"it is actually solving the QP"<<std::endl; |
411 |
|
|
distribute(); |
412 |
|
|
// std::cout<<"it even distribute the forces"<<std::endl; |
413 |
|
|
// std::cout << "Distributed" << std::endl; |
414 |
|
|
} |
415 |
|
|
|
416 |
|
|
} // namespace aig |