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// |
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// Copyright (c) 2015 CNRS |
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// Authors: Joseph Mirabel |
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// |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include <hpp/constraints/com-between-feet.hh> |
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#include <hpp/pinocchio/center-of-mass-computation.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <hpp/util/debug.hh> |
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namespace hpp { |
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namespace constraints { |
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namespace { |
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static size_type size(std::vector<bool> mask) { |
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size_type res = 0; |
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for (std::vector<bool>::iterator it = mask.begin(); it != mask.end(); ++it) { |
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if (*it) ++res; |
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} |
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return res; |
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} |
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} // namespace |
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ComBetweenFeetPtr_t ComBetweenFeet::create( |
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const std::string& name, const DevicePtr_t& robot, const JointPtr_t& jointL, |
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const JointPtr_t& jointR, const vector3_t pointL, const vector3_t pointR, |
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const JointPtr_t& jointRef, const vector3_t pointRef, |
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std::vector<bool> mask) { |
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CenterOfMassComputationPtr_t comc = CenterOfMassComputation::create(robot); |
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comc->add(robot->rootJoint()); |
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return create(name, robot, comc, jointL, jointR, pointL, pointR, jointRef, |
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pointRef, mask); |
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} |
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ComBetweenFeetPtr_t ComBetweenFeet::create( |
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const std::string& name, const DevicePtr_t& robot, |
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const CenterOfMassComputationPtr_t& comc, const JointPtr_t& jointL, |
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const JointPtr_t& jointR, const vector3_t pointL, const vector3_t pointR, |
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const JointPtr_t& jointRef, const vector3_t pointRef, |
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std::vector<bool> mask) { |
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ComBetweenFeet* ptr = |
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new ComBetweenFeet(name, robot, comc, jointL, jointR, pointL, pointR, |
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jointRef, pointRef, mask); |
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ComBetweenFeetPtr_t shPtr(ptr); |
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return shPtr; |
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} |
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ComBetweenFeet::ComBetweenFeet(const std::string& name, |
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const DevicePtr_t& robot, |
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const CenterOfMassComputationPtr_t& comc, |
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const JointPtr_t& jointL, |
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const JointPtr_t& jointR, const vector3_t pointL, |
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const vector3_t pointR, |
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const JointPtr_t& jointRef, |
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const vector3_t pointRef, std::vector<bool> mask) |
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: DifferentiableFunction(robot->configSize(), robot->numberDof(), |
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LiegroupSpace::Rn(size(mask)), name), |
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robot_(robot), |
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com_(PointCom::create(comc)), |
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left_(PointInJoint::create(jointL, pointL)), |
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right_(PointInJoint::create(jointR, pointR)), |
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pointRef_(), |
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jointRef_(jointRef), |
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mask_(mask) { |
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cross_.setZero(); |
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u_ = right_ - left_; |
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xmxl_ = com_ - left_; |
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xmxr_ = com_ - right_; |
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ecrossu_ = (com_ - (0.5 * (left_ + right_))) ^ (u_); |
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// expr_ = RotationMultiply <ECrossU_t> (jointRef_, ecrossu_, true); |
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expr_ = JointTranspose(jointRef_) * ecrossu_; |
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xmxlDotu_ = xmxl_ * u_; |
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xmxrDotu_ = xmxr_ * u_; |
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for (int i = 0; i < 3; i++) pointRef_[i] = pointRef[i]; |
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} |
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void ComBetweenFeet::impl_compute(LiegroupElementRef result, |
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ConfigurationIn_t argument) const { |
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robot_->currentConfiguration(argument); |
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robot_->computeForwardKinematics(pinocchio::JOINT_POSITION); |
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size_t index = 0; |
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if (mask_[0]) { |
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com_->invalidate(); |
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com_->computeValue(argument); |
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result.vector()[index++] = (com_->value() - pointRef_)[2]; |
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} |
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if (mask_[1]) { |
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expr_->invalidate(); |
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expr_->computeValue(argument); |
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result.vector()[index++] = expr_->value()[2]; |
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} |
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if (mask_[2]) { |
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xmxlDotu_->invalidate(); |
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xmxlDotu_->computeValue(argument); |
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result.vector()[index++] = xmxlDotu_->value()[0]; |
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} |
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if (mask_[3]) { |
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xmxrDotu_->invalidate(); |
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xmxrDotu_->computeValue(argument); |
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result.vector()[index] = xmxrDotu_->value()[0]; |
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} |
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} |
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void ComBetweenFeet::impl_jacobian(matrixOut_t jacobian, |
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ConfigurationIn_t arg) const { |
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robot_->currentConfiguration(arg); |
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robot_->computeForwardKinematics(pinocchio::JOINT_POSITION | |
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pinocchio::JACOBIAN); |
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size_t index = 0; |
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if (mask_[0]) { |
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com_->invalidate(); |
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com_->computeJacobian(arg); |
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jacobian.row(index++).leftCols(jointRef_->jacobian().cols()) = |
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com_->jacobian().row(2); |
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} |
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if (mask_[1]) { |
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expr_->invalidate(); |
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expr_->computeJacobian(arg); |
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jacobian.row(index++).leftCols(jointRef_->jacobian().cols()) = |
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expr_->jacobian().row(2); |
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} |
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if (mask_[2]) { |
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xmxlDotu_->invalidate(); |
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xmxlDotu_->computeJacobian(arg); |
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jacobian.row(index++).leftCols(jointRef_->jacobian().cols()) = |
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xmxlDotu_->jacobian(); |
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} |
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if (mask_[3]) { |
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xmxrDotu_->invalidate(); |
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xmxrDotu_->computeJacobian(arg); |
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jacobian.row(index).leftCols(jointRef_->jacobian().cols()) = |
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xmxrDotu_->jacobian(); |
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} |
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} |
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} // namespace constraints |
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} // namespace hpp |
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