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/* |
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* Copyright 2017, LAAS-CNRS |
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* Author: Pierre Fernbach |
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*/ |
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#include <hpp/bezier-com-traj/common_solve_methods.hh> |
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#include <hpp/bezier-com-traj/solve.hh> |
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#include <hpp/bezier-com-traj/waypoints/waypoints_definition.hh> |
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#include <limits> |
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using namespace bezier_com_traj; |
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namespace bezier_com_traj { |
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typedef std::pair<double, point3_t> coefs_t; |
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const int DIM_POINT = 3; |
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// const int NUM_DISCRETIZATION = 11; |
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const bool verbose = false; |
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/** |
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* @brief solveEndEffector Tries to produce a trajectory represented as a bezier |
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* curve that satisfy position, velocity and acceleration constraint for the |
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* initial and final point and that follow as close as possible the input |
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* trajectory |
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* @param pData problem Data. |
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* @param path the path to follow, the class Path must implement the operator |
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* (double t) , t \in [0,1] return a Vector3 that give the position on the path |
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* for a given time |
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* @param T time lenght of the trajectory |
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* @param timeStep time that the solver has to stop |
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* @return ResultData a struct containing the resulting trajectory, if success |
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* is true. |
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*/ |
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template <typename Path> |
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ResultDataCOMTraj solveEndEffector(const ProblemData& pData, const Path& path, |
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const double T, const double weightDistance, |
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bool useVelCost = true); |
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coefs_t initCoefs() { |
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coefs_t c; |
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c.first = 0; |
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c.second = point3_t::Zero(); |
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return c; |
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} |
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// up to jerk second derivativ constraints for init, pos vel and acc constraint |
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// for goal |
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std::vector<bezier_t::point_t> computeConstantWaypointsInitPredef( |
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const ProblemData& pData, double T) { |
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const double n = 4; |
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std::vector<bezier_t::point_t> pts; |
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pts.push_back(pData.c0_); // c0 |
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pts.push_back((pData.dc0_ * T / n) + pData.c0_); // dc0 |
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pts.push_back( |
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(n * n * pData.c0_ - n * pData.c0_ + 2 * n * pData.dc0_ * T - |
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2 * pData.dc0_ * T + pData.ddc0_ * T * T) / |
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(n * (n - 1))); // ddc0 // * T because derivation make a T appear |
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pts.push_back((n * n * pData.c0_ - n * pData.c0_ + 3 * n * pData.dc0_ * T - |
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3 * pData.dc0_ * T + 3 * pData.ddc0_ * T * T) / |
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(n * (n - 1))); // j0 |
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// pts.push_back((n*n*pData.c0_ - n*pData.c0_ + 4*n*pData.dc0_*T - |
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// 4*pData.dc0_ *T+ 6*pData.ddc0_*T*T)/(n*(n - 1))) ; //dj0 |
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// pts.push_back((n*n*pData.c0_ - n*pData.c0_ + 5*n*pData.dc0_*T - |
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// 5*pData.dc0_ *T+ 10*pData.ddc0_*T*T)/(n*(n - 1))) ; //ddj0 |
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// pts.push_back((n*n*pData.c1_ - n*pData.c1_ - 2*n*pData.dc1_*T + |
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// 2*pData.dc1_*T + pData.ddc1_*T*T)/(n*(n - 1))) ; |
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// //ddc1 // * T ?? pts.push_back((-pData.dc1_ * T / n) + pData.c1_); // dc1 |
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pts.push_back(pData.c1_); // c1 |
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return pts; |
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} |
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// up to jerk second derivativ constraints for goal, pos vel and acc constraint |
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// for init |
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std::vector<bezier_t::point_t> computeConstantWaypointsGoalPredef( |
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const ProblemData& pData, double T) { |
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const double n = 4; |
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std::vector<bezier_t::point_t> pts; |
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pts.push_back(pData.c0_); // c0 |
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// pts.push_back((pData.dc0_ * T / n )+ pData.c0_); //dc0 |
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// pts.push_back((n*n*pData.c0_ - n*pData.c0_ + 2*n*pData.dc0_*T - |
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// 2*pData.dc0_*T + pData.ddc0_*T*T)/(n*(n - 1))); |
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// //ddc0 // * T because derivation make a T appear |
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// pts.push_back((n*n*pData.c1_ - n*pData.c1_ - 5*n*pData.dc1_*T + |
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// 5*pData.dc1_*T + 10*pData.ddc1_*T*T)/(n*(n - 1))) ; //ddj1 |
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// pts.push_back((n*n*pData.c1_ - n*pData.c1_ - 4*n*pData.dc1_*T + |
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// 4*pData.dc1_*T + 6*pData.ddc1_*T*T)/(n*(n - 1))) ; //dj1 |
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pts.push_back((n * n * pData.c1_ - n * pData.c1_ - 3 * n * pData.dc1_ * T + |
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3 * pData.dc1_ * T + 3 * pData.ddc1_ * T * T) / |
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(n * (n - 1))); // j1 |
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pts.push_back((n * n * pData.c1_ - n * pData.c1_ - 2 * n * pData.dc1_ * T + |
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2 * pData.dc1_ * T + pData.ddc1_ * T * T) / |
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(n * (n - 1))); // ddc1 * T ?? |
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pts.push_back((-pData.dc1_ * T / n) + pData.c1_); // dc1 |
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pts.push_back(pData.c1_); // c1 |
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return pts; |
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} |
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void computeConstraintsMatrix( |
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const ProblemData& pData, const std::vector<waypoint_t>& wps_acc, |
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const std::vector<waypoint_t>& wps_vel, const VectorX& acc_bounds, |
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const VectorX& vel_bounds, MatrixXX& A, VectorX& b, |
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const std::vector<waypoint_t>& wps_jerk = std::vector<waypoint_t>(), |
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const VectorX& jerk_bounds = VectorX(DIM_POINT)) { |
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assert(acc_bounds.size() == DIM_POINT && |
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"Acceleration bounds should have the same dimension as the points"); |
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assert(vel_bounds.size() == DIM_POINT && |
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"Velocity bounds should have the same dimension as the points"); |
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assert(jerk_bounds.size() == DIM_POINT && |
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"Jerk bounds should have the same dimension as the points"); |
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const int DIM_VAR = dimVar(pData); |
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int empty_acc = 0; |
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int empty_vel = 0; |
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int empty_jerk = 0; |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_acc.begin(); |
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wpcit != wps_acc.end(); ++wpcit) { |
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if (wpcit->first.isZero(std::numeric_limits<double>::epsilon())) |
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empty_acc++; |
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} |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_vel.begin(); |
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wpcit != wps_vel.end(); ++wpcit) { |
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if (wpcit->first.isZero(std::numeric_limits<double>::epsilon())) |
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empty_vel++; |
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} |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_jerk.begin(); |
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wpcit != wps_jerk.end(); ++wpcit) { |
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if (wpcit->first.isZero(std::numeric_limits<double>::epsilon())) |
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empty_jerk++; |
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} |
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A = MatrixXX::Zero( |
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(2 * DIM_POINT * |
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(wps_acc.size() - empty_acc + wps_vel.size() - empty_vel + |
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wps_jerk.size() - empty_jerk)) + |
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DIM_VAR, |
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DIM_VAR); // *2 because we have to put the lower and upper bound for each |
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// one, +DIM_VAR for the constraint on x[z] |
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b = VectorX::Zero(A.rows()); |
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int i = 0; |
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// upper acc bounds |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_acc.begin(); |
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wpcit != wps_acc.end(); ++wpcit) { |
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if (!wpcit->first.isZero(std::numeric_limits<double>::epsilon())) { |
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A.block(i * DIM_POINT, 0, DIM_POINT, DIM_VAR) = wpcit->first; |
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b.segment<DIM_POINT>(i * DIM_POINT) = acc_bounds - wpcit->second; |
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++i; |
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} |
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} |
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// lower acc bounds |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_acc.begin(); |
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wpcit != wps_acc.end(); ++wpcit) { |
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if (!wpcit->first.isZero(std::numeric_limits<double>::epsilon())) { |
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A.block(i * DIM_POINT, 0, DIM_POINT, DIM_VAR) = -wpcit->first; |
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b.segment<DIM_POINT>(i * DIM_POINT) = acc_bounds + wpcit->second; |
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++i; |
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} |
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} |
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// upper velocity bounds |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_vel.begin(); |
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wpcit != wps_vel.end(); ++wpcit) { |
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if (!wpcit->first.isZero(std::numeric_limits<double>::epsilon())) { |
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A.block(i * DIM_POINT, 0, DIM_POINT, DIM_VAR) = wpcit->first; |
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b.segment<DIM_POINT>(i * DIM_POINT) = vel_bounds - wpcit->second; |
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++i; |
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} |
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} |
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// lower velocity bounds |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_vel.begin(); |
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wpcit != wps_vel.end(); ++wpcit) { |
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if (!wpcit->first.isZero(std::numeric_limits<double>::epsilon())) { |
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A.block(i * DIM_POINT, 0, DIM_POINT, DIM_VAR) = -wpcit->first; |
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b.segment<DIM_POINT>(i * DIM_POINT) = vel_bounds + wpcit->second; |
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++i; |
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} |
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} |
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// upper jerk bounds |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_jerk.begin(); |
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wpcit != wps_jerk.end(); ++wpcit) { |
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if (!wpcit->first.isZero(std::numeric_limits<double>::epsilon())) { |
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A.block(i * DIM_POINT, 0, DIM_POINT, DIM_VAR) = wpcit->first; |
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b.segment<DIM_POINT>(i * DIM_POINT) = vel_bounds - wpcit->second; |
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++i; |
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} |
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} |
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// lower jerk bounds |
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for (std::vector<waypoint_t>::const_iterator wpcit = wps_jerk.begin(); |
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wpcit != wps_jerk.end(); ++wpcit) { |
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if (!wpcit->first.isZero(std::numeric_limits<double>::epsilon())) { |
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A.block(i * DIM_POINT, 0, DIM_POINT, DIM_VAR) = -wpcit->first; |
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b.segment<DIM_POINT>(i * DIM_POINT) = jerk_bounds + wpcit->second; |
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++i; |
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} |
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} |
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// test : constraint x[z] to be always higher than init[z] and goal[z]. |
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// TODO replace z with the direction of the contact normal ... need to change |
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// the API |
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MatrixXX mxz = MatrixXX::Zero(DIM_VAR, DIM_VAR); |
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int j = DIM_POINT - 1; |
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VectorX nxz = VectorX::Zero(DIM_VAR); |
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while (j < (DIM_VAR)) { |
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mxz(j, j) = -1; |
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nxz[j] = -std::min(pData.c0_[2], pData.c1_[2]); |
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j += DIM_POINT; |
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} |
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A.block(i * DIM_POINT, 0, DIM_VAR, DIM_VAR) = mxz; |
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b.segment(i * DIM_POINT, DIM_VAR) = nxz; |
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// std::cout<<"(i*DIM_POINT + DIM_VAR) = " << (i*DIM_POINT + |
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// DIM_VAR)<<std::endl; std::cout<<"A rows = "<<A.rows()<<std::endl; |
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assert((i * DIM_POINT + DIM_VAR) == A.rows() && |
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"Constraints matrix were not correctly initialized"); |
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// TEST : |
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/* A.block<DIM_POINT,DIM_POINT>(i*DIM_POINT,0) = Matrix3::Identity(); |
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b.segment<DIM_POINT>(i*DIM_POINT) = Vector3(10,10,10); |
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i++; |
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A.block<DIM_POINT,DIM_POINT>(i*DIM_POINT,0) = -Matrix3::Identity(); |
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b.segment<DIM_POINT>(i*DIM_POINT) = Vector3(10,10,10);*/ |
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} |
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std::pair<MatrixXX, VectorX> computeDistanceCostFunction( |
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size_t numPoints, const ProblemData& pData, double T, |
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std::vector<point3_t> pts_path) { |
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assert(numPoints == pts_path.size() && |
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"Pts_path size must be equal to numPoints"); |
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double step = 1. / (double)(numPoints - 1); |
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std::vector<point_t> pi = computeConstantWaypoints(pData, T); |
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waypoint_t c_wp; |
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MatrixXX H = MatrixXX::Zero(dimVar(pData), dimVar(pData)); |
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VectorX g = VectorX::Zero(dimVar(pData)); |
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point3_t pk; |
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for (size_t i = 0; i < numPoints; ++i) { |
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c_wp = evaluateCurveWaypointAtTime(pData, pi, (double)i * step); |
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pk = pts_path[i]; |
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// std::cout<<"pk = "<<pk.transpose()<<std::endl; |
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// std::cout<<"coef First : "<<ckcit->first<<std::endl; |
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// std::cout<<"coef second : "<<ckcit->second.transpose()<<std::endl; |
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H += (c_wp.first.transpose() * c_wp.first); |
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g += ((c_wp.second - pk).transpose() * c_wp.first).transpose(); |
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} |
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double norm = H.norm(); |
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H /= norm; |
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g /= norm; |
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return std::make_pair(H, g); |
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} |
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template <typename Path> |
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std::pair<MatrixXX, VectorX> computeDistanceCostFunction( |
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size_t numPoints, const ProblemData& pData, double T, const Path& path) { |
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double step = 1. / (double)(numPoints - 1); |
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std::vector<point3_t> pts_path; |
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for (size_t i = 0; i < numPoints; ++i) |
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pts_path.push_back(path(((double)i * step))); |
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return computeDistanceCostFunction(numPoints, pData, T, pts_path); |
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} |
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// TODO |
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void computeC_of_T(const ProblemData& pData, double T, ResultDataCOMTraj& res) { |
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std::vector<Vector3> wps = computeConstantWaypoints(pData, T); |
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if (dimVar(pData) == 3) |
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wps[4] = res.x; // FIXME : compute id from constraints |
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else if (dimVar(pData) == 9) { |
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wps[4] = res.x.segment<3>(0); |
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wps[5] = res.x.segment<3>(3); |
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wps[6] = res.x.segment<3>(6); |
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} else if (dimVar(pData) == 15) { |
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wps[4] = res.x.segment<3>(0); |
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wps[5] = res.x.segment<3>(3); |
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wps[6] = res.x.segment<3>(6); |
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wps[7] = res.x.segment<3>(9); |
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|
✗ |
wps[8] = res.x.segment<3>(12); |
| 275 |
|
|
} |
| 276 |
|
✗ |
res.c_of_t_ = bezier_t(wps.begin(), wps.end(), 0, T); |
| 277 |
|
|
if (verbose) |
| 278 |
|
|
std::cout << "bezier curve created, size = " << res.c_of_t_.size_ |
| 279 |
|
|
<< std::endl; |
| 280 |
|
|
} |
| 281 |
|
|
|
| 282 |
|
✗ |
void computeVelCostFunctionDiscretized(int numPoints, const ProblemData& pData, |
| 283 |
|
|
double T, MatrixXX& H, VectorX& g) { |
| 284 |
|
✗ |
double step = 1. / (numPoints - 1); |
| 285 |
|
✗ |
std::vector<waypoint_t> cks; |
| 286 |
|
✗ |
std::vector<point_t> pi = computeConstantWaypoints(pData, T); |
| 287 |
|
✗ |
for (int i = 0; i < numPoints; ++i) { |
| 288 |
|
✗ |
cks.push_back(evaluateVelocityCurveWaypointAtTime(pData, T, pi, i * step)); |
| 289 |
|
|
} |
| 290 |
|
✗ |
H = MatrixXX::Zero(dimVar(pData), dimVar(pData)); |
| 291 |
|
✗ |
g = VectorX::Zero(dimVar(pData)); |
| 292 |
|
✗ |
for (std::vector<waypoint_t>::const_iterator ckcit = cks.begin(); |
| 293 |
|
✗ |
ckcit != cks.end(); ++ckcit) { |
| 294 |
|
|
// H+=(ckcit->first.transpose() * ckcit->first); |
| 295 |
|
|
// g+=ckcit->second.transpose() * ckcit->first; |
| 296 |
|
✗ |
for (int i = 0; i < (dimVar(pData) / 3); ++i) { |
| 297 |
|
✗ |
H.block<3, 3>(i * 3, i * 3) += |
| 298 |
|
✗ |
Matrix3::Identity() * ckcit->first(0, i * 3) * ckcit->first(0, i * 3); |
| 299 |
|
✗ |
g.segment<3>(i * 3) += |
| 300 |
|
✗ |
ckcit->second.segment<3>(0) * ckcit->first(0, i * 3); |
| 301 |
|
|
} |
| 302 |
|
|
} |
| 303 |
|
|
// TEST : don't consider z axis for minimum acceleration cost |
| 304 |
|
|
// H(2,2) = 1e-6; |
| 305 |
|
|
// g[2] = 1e-6 ; |
| 306 |
|
|
// normalize : |
| 307 |
|
|
// double norm=H.norm(); // because H is always diagonal |
| 308 |
|
|
// H /= norm; |
| 309 |
|
|
// g /= norm; |
| 310 |
|
|
} |
| 311 |
|
|
|
| 312 |
|
✗ |
void computeAccelerationCostFunctionDiscretized(int numPoints, |
| 313 |
|
|
const ProblemData& pData, |
| 314 |
|
|
double T, MatrixXX& H, |
| 315 |
|
|
VectorX& g) { |
| 316 |
|
✗ |
double step = 1. / (numPoints - 1); |
| 317 |
|
✗ |
std::vector<waypoint_t> cks; |
| 318 |
|
✗ |
std::vector<point_t> pi = computeConstantWaypoints(pData, T); |
| 319 |
|
✗ |
for (int i = 0; i < numPoints; ++i) { |
| 320 |
|
✗ |
cks.push_back( |
| 321 |
|
✗ |
evaluateAccelerationCurveWaypointAtTime(pData, T, pi, i * step)); |
| 322 |
|
|
} |
| 323 |
|
✗ |
H = MatrixXX::Zero(dimVar(pData), dimVar(pData)); |
| 324 |
|
✗ |
g = VectorX::Zero(dimVar(pData)); |
| 325 |
|
✗ |
for (std::vector<waypoint_t>::const_iterator ckcit = cks.begin(); |
| 326 |
|
✗ |
ckcit != cks.end(); ++ckcit) { |
| 327 |
|
✗ |
H += (ckcit->first.transpose() * ckcit->first); |
| 328 |
|
✗ |
g += ckcit->first.transpose() * ckcit->second; |
| 329 |
|
|
} |
| 330 |
|
|
// TEST : don't consider z axis for minimum acceleration cost |
| 331 |
|
|
// H(2,2) = 1e-6; |
| 332 |
|
|
// g[2] = 1e-6 ; |
| 333 |
|
|
// normalize : |
| 334 |
|
|
// double norm=H.norm(); // because H is always diagonal |
| 335 |
|
|
// H /= norm; |
| 336 |
|
|
// g /= norm; |
| 337 |
|
|
} |
| 338 |
|
|
|
| 339 |
|
✗ |
void computeJerkCostFunctionDiscretized(int numPoints, const ProblemData& pData, |
| 340 |
|
|
double T, MatrixXX& H, VectorX& g) { |
| 341 |
|
✗ |
double step = 1. / (numPoints - 1); |
| 342 |
|
|
|
| 343 |
|
✗ |
std::vector<waypoint_t> cks; |
| 344 |
|
✗ |
std::vector<point_t> pi = computeConstantWaypoints(pData, T); |
| 345 |
|
✗ |
for (int i = 0; i < numPoints; ++i) { |
| 346 |
|
✗ |
cks.push_back(evaluateJerkCurveWaypointAtTime(pData, T, pi, i * step)); |
| 347 |
|
|
} |
| 348 |
|
✗ |
H = MatrixXX::Zero(dimVar(pData), dimVar(pData)); |
| 349 |
|
✗ |
g = VectorX::Zero(dimVar(pData)); |
| 350 |
|
✗ |
for (std::vector<waypoint_t>::const_iterator ckcit = cks.begin(); |
| 351 |
|
✗ |
ckcit != cks.end(); ++ckcit) { |
| 352 |
|
✗ |
H += (ckcit->first.transpose() * ckcit->first); |
| 353 |
|
✗ |
g += ckcit->first.transpose() * ckcit->second; |
| 354 |
|
|
} |
| 355 |
|
|
// TEST : don't consider z axis for minimum acceleration cost |
| 356 |
|
|
// H(2,2) = 1e-6; |
| 357 |
|
|
// g[2] = 1e-6 ; |
| 358 |
|
|
// normalize : |
| 359 |
|
|
// double norm=H.norm(); // because H is always diagonal |
| 360 |
|
|
// H /= norm; |
| 361 |
|
|
// g /= norm; |
| 362 |
|
|
} |
| 363 |
|
|
|
| 364 |
|
✗ |
std::pair<MatrixXX, VectorX> computeEndEffectorConstraints( |
| 365 |
|
|
const ProblemData& pData, const double T, |
| 366 |
|
|
std::vector<bezier_t::point_t> pi) { |
| 367 |
|
✗ |
std::vector<waypoint_t> wps_jerk = computeJerkWaypoints(pData, T, pi); |
| 368 |
|
✗ |
std::vector<waypoint_t> wps_acc = computeAccelerationWaypoints(pData, T, pi); |
| 369 |
|
✗ |
std::vector<waypoint_t> wps_vel = computeVelocityWaypoints(pData, T, pi); |
| 370 |
|
|
// stack the constraint for each waypoint : |
| 371 |
|
|
Vector3 jerk_bounds(10000, 10000, |
| 372 |
|
✗ |
10000); // TODO : read it from somewhere (ProblemData ?) |
| 373 |
|
✗ |
Vector3 acc_bounds(10000, 10000, 10000); |
| 374 |
|
✗ |
Vector3 vel_bounds(10000, 10000, 10000); |
| 375 |
|
✗ |
MatrixXX A; |
| 376 |
|
✗ |
VectorX b; |
| 377 |
|
✗ |
computeConstraintsMatrix(pData, wps_acc, wps_vel, acc_bounds, vel_bounds, A, |
| 378 |
|
|
b, wps_jerk, jerk_bounds); |
| 379 |
|
✗ |
return std::make_pair(A, b); |
| 380 |
|
|
} |
| 381 |
|
|
|
| 382 |
|
|
template <typename Path> |
| 383 |
|
✗ |
std::pair<MatrixXX, VectorX> computeEndEffectorCost( |
| 384 |
|
|
const ProblemData& pData, const Path& path, const double T, |
| 385 |
|
|
const double weightDistance, bool /*useVelCost*/, |
| 386 |
|
|
std::vector<bezier_t::point_t> pi) { |
| 387 |
|
✗ |
assert(weightDistance >= 0. && weightDistance <= 1. && |
| 388 |
|
|
"WeightDistance must be between 0 and 1"); |
| 389 |
|
✗ |
double weightSmooth = 1. - weightDistance; |
| 390 |
|
✗ |
const int DIM_VAR = dimVar(pData); |
| 391 |
|
|
// compute distance cost function (discrete integral under the curve defined |
| 392 |
|
|
// by 'path') |
| 393 |
|
✗ |
MatrixXX H; |
| 394 |
|
✗ |
VectorX g; |
| 395 |
|
✗ |
std::pair<MatrixXX, VectorX> Hg_smooth, Hg_rrt; |
| 396 |
|
|
|
| 397 |
|
✗ |
if (weightDistance > 0) |
| 398 |
|
✗ |
Hg_rrt = computeDistanceCostFunction<Path>(50, pData, T, path); |
| 399 |
|
|
else { |
| 400 |
|
✗ |
Hg_rrt.first = MatrixXX::Zero(DIM_VAR, DIM_VAR); |
| 401 |
|
✗ |
Hg_rrt.second = VectorX::Zero(DIM_VAR); |
| 402 |
|
|
} |
| 403 |
|
|
|
| 404 |
|
✗ |
Hg_smooth = computeVelocityCost(pData, T, pi); |
| 405 |
|
|
|
| 406 |
|
|
/* std::cout<<"End eff H_rrt = "<<std::endl<<H_rrt<<std::endl; |
| 407 |
|
|
std::cout<<"End eff g_rrt = "<<std::endl<<g_rrt<<std::endl; |
| 408 |
|
|
std::cout<<"End eff H_acc = "<<std::endl<<H_acc<<std::endl; |
| 409 |
|
|
std::cout<<"End eff g_acc = "<<std::endl<<g_acc<<std::endl; |
| 410 |
|
|
*/ |
| 411 |
|
|
// add the costs : |
| 412 |
|
✗ |
H = MatrixXX::Zero(DIM_VAR, DIM_VAR); |
| 413 |
|
✗ |
g = VectorX::Zero(DIM_VAR); |
| 414 |
|
✗ |
H = weightSmooth * (Hg_smooth.first) + weightDistance * Hg_rrt.first; |
| 415 |
|
✗ |
g = weightSmooth * (Hg_smooth.second) + weightDistance * Hg_rrt.second; |
| 416 |
|
|
// H = Hg_smooth.first; |
| 417 |
|
|
// g = Hg_smooth.second; |
| 418 |
|
|
|
| 419 |
|
✗ |
return std::make_pair(H, g); |
| 420 |
|
|
} |
| 421 |
|
|
|
| 422 |
|
|
template <typename Path> |
| 423 |
|
✗ |
ResultDataCOMTraj solveEndEffector(const ProblemData& pData, const Path& path, |
| 424 |
|
|
const double T, const double weightDistance, |
| 425 |
|
|
bool useVelCost) { |
| 426 |
|
|
if (verbose) std::cout << "solve end effector, T = " << T << std::endl; |
| 427 |
|
✗ |
std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData, T); |
| 428 |
|
✗ |
std::pair<MatrixXX, VectorX> Ab = computeEndEffectorConstraints(pData, T, pi); |
| 429 |
|
✗ |
std::pair<MatrixXX, VectorX> Hg = |
| 430 |
|
|
computeEndEffectorCost(pData, path, T, weightDistance, useVelCost, pi); |
| 431 |
|
|
if (verbose) { |
| 432 |
|
|
std::cout << "End eff A = " << std::endl << Ab.first << std::endl; |
| 433 |
|
|
std::cout << "End eff b = " << std::endl << Ab.second << std::endl; |
| 434 |
|
|
std::cout << "End eff H = " << std::endl << Hg.first << std::endl; |
| 435 |
|
|
std::cout << "End eff g = " << std::endl << Hg.second << std::endl; |
| 436 |
|
|
std::cout << "Dim Var = " << dimVar(pData) << std::endl; |
| 437 |
|
|
std::cout << "Dim H = " << Hg.first.rows() << " x " << Hg.first.cols() |
| 438 |
|
|
<< std::endl; |
| 439 |
|
|
std::cout << "Dim g = " << Hg.second.rows() << std::endl; |
| 440 |
|
|
std::cout << "Dim A = " << Ab.first.rows() << " x " << Ab.first.cols() |
| 441 |
|
|
<< std::endl; |
| 442 |
|
|
std::cout << "Dim b = " << Ab.first.rows() << std::endl; |
| 443 |
|
|
} |
| 444 |
|
|
|
| 445 |
|
✗ |
VectorX init = VectorX(dimVar(pData)); |
| 446 |
|
|
// init = (pData.c0_ + pData.c1_)/2.; |
| 447 |
|
|
// init =pData.c0_; |
| 448 |
|
|
if (verbose) |
| 449 |
|
|
std::cout << "Init = " << std::endl << init.transpose() << std::endl; |
| 450 |
|
|
|
| 451 |
|
✗ |
ResultData resQp = solve(Ab, Hg, init); |
| 452 |
|
|
|
| 453 |
|
✗ |
ResultDataCOMTraj res; |
| 454 |
|
✗ |
if (resQp.success_) { |
| 455 |
|
✗ |
res.success_ = true; |
| 456 |
|
✗ |
res.x = resQp.x; |
| 457 |
|
|
// computeRealCost(pData, res); |
| 458 |
|
✗ |
computeC_of_T(pData, T, res); |
| 459 |
|
|
// computedL_of_T(pData,Ts,res); |
| 460 |
|
|
} |
| 461 |
|
|
if (verbose) { |
| 462 |
|
|
std::cout << "Solved, success = " << res.success_ |
| 463 |
|
|
<< " x = " << res.x.transpose() << std::endl; |
| 464 |
|
|
std::cout << "Final cost : " << resQp.cost_ << std::endl; |
| 465 |
|
|
} |
| 466 |
|
✗ |
return res; |
| 467 |
|
|
} |
| 468 |
|
|
|
| 469 |
|
|
} // namespace bezier_com_traj |
| 470 |
|
|
|