qp-static-stability.hh

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// Copyright (c) 2015, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
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#ifndef HPP_CONSTRAINTS_QP_STATIC_STABILITY_HH
#define HPP_CONSTRAINTS_QP_STATIC_STABILITY_HH
 
#include <hpp/constraints/convex-shape-contact.hh>
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/constraints/fwd.hh>
#include <hpp/constraints/static-stability.hh>
#include <qpOASES.hpp>
 
namespace hpp {
namespace constraints {
 
 
//  counter-balance the gravity force and momentum of a kinematics chain.
class HPP_CONSTRAINTS_DLLAPI QPStaticStability : public DifferentiableFunction {
 public:
  static const Eigen::Matrix<value_type, 6, 1> Gravity;
 
  typedef StaticStability::Contact_t Contact_t;
  typedef StaticStability::Contacts_t Contacts_t;
  typedef ConvexShapeContact::ForceData ForceData;
 
  QPStaticStability(const std::string& name, const DevicePtr_t& robot,
                    const Contacts_t& contacts,
                    const CenterOfMassComputationPtr_t& com);
 
  QPStaticStability(const std::string& name, const DevicePtr_t& robot,
                    const std::vector<ForceData>& contacts,
                    const CenterOfMassComputationPtr_t& com);
 
  static QPStaticStabilityPtr_t create(const std::string& name,
                                       const DevicePtr_t& robot,
                                       const Contacts_t& contacts,
                                       const CenterOfMassComputationPtr_t& com);
 
  static QPStaticStabilityPtr_t create(const std::string& name,
                                       const DevicePtr_t& robot,
                                       const std::vector<ForceData>& contacts,
                                       const CenterOfMassComputationPtr_t& com);
 
  static QPStaticStabilityPtr_t create(const DevicePtr_t& robot,
                                       const Contacts_t& contacts,
                                       const CenterOfMassComputationPtr_t& com);
 
  MatrixOfExpressions<>& phi() { return phi_; }
 
 protected:
  bool isEqual(const DifferentiableFunction& other) const {
    const QPStaticStability& castother =
        dynamic_cast<const QPStaticStability&>(other);
    if (!DifferentiableFunction::isEqual(other)) return false;
 
    if (name() != castother.name()) return false;
    if (robot_ != castother.robot_) return false;
    if (nbContacts_ != castother.nbContacts_) return false;
    if (com_ != castother.com_) return false;
    if (Zeros != castother.Zeros) return false;
    if (nWSR != castother.nWSR) return false;
 
    return true;
  }
 
 private:
  static const Eigen::Matrix<value_type, 6, 1> MinusGravity;
 
  qpOASES::real_t* Zeros;
  const qpOASES::int_t nWSR;
 
  void impl_compute(LiegroupElementRef result,
                    ConfigurationIn_t argument) const;
 
  void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t argument) const;
 
  qpOASES::returnValue solveQP(vectorOut_t result) const;
 
  bool checkQPSol() const;
  bool checkStrictComplementarity() const;
 
  DevicePtr_t robot_;
  std::size_t nbContacts_;
  CenterOfMassComputationPtr_t com_;
 
  typedef MatrixOfExpressions<eigen::vector3_t, JacobianMatrix> MoE_t;
  typedef Eigen::Matrix<qpOASES::real_t, Eigen::Dynamic, Eigen::Dynamic,
                        Eigen::RowMajor>
      RowMajorMatrix_t;
  typedef Eigen::Map<RowMajorMatrix_t> InvertStorageOrderMap_t;
  typedef Eigen::Map<Eigen::Matrix<qpOASES::real_t, Eigen::Dynamic, 1> >
      VectorMap_t;
  typedef Eigen::Map<const vector_t> ConstVectorMap_t;
 
  mutable RowMajorMatrix_t H_;
  mutable vector_t G_;
  mutable qpOASES::QProblemB qp_;
  mutable MoE_t phi_;
  mutable vector_t primal_, dual_;
};
}  // namespace constraints
}  // namespace hpp
 
#endif  //  HPP_CONSTRAINTS_STATIC_STABILITY_HH