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// Copyright (c) 2015, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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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#ifndef HPP_CONSTRAINTS_QP_STATIC_STABILITY_HH |
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#define HPP_CONSTRAINTS_QP_STATIC_STABILITY_HH |
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#include <hpp/constraints/convex-shape-contact.hh> |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/constraints/fwd.hh> |
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#include <hpp/constraints/static-stability.hh> |
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#include <qpOASES.hpp> |
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namespace hpp { |
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namespace constraints { |
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/// \addtogroup constraints |
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/// \{ |
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/// |
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/// Quasi static equilibrium constraint defined as a QP program |
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/// |
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/// This class defines a function whose value is equal to zero |
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/// if and only if there exists a set of non-negative forces applied |
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/// at some given contact points along some given normals that |
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// counter-balance the gravity force and momentum of a kinematics chain. |
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/// |
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/// \sa https://hal.archives-ouvertes.fr/tel-01516897 Chapter 2, Sections |
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/// 3.1 and 3.2. |
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class HPP_CONSTRAINTS_DLLAPI QPStaticStability : public DifferentiableFunction { |
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public: |
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static const Eigen::Matrix<value_type, 6, 1> Gravity; |
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typedef StaticStability::Contact_t Contact_t; |
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typedef StaticStability::Contacts_t Contacts_t; |
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typedef ConvexShapeContact::ForceData ForceData; |
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/// Constructor |
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/// \param name name of the constraint |
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/// \param robot the robot the constraints is applied to, |
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/// \param contacts set of contact points |
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/// \param com COM of the robot |
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QPStaticStability(const std::string& name, const DevicePtr_t& robot, |
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const Contacts_t& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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/// Constructor |
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/// \param robot the robot the constraints is applied to, |
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/// \param com COM of the robot |
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QPStaticStability(const std::string& name, const DevicePtr_t& robot, |
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const std::vector<ForceData>& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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static QPStaticStabilityPtr_t create(const std::string& name, |
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const DevicePtr_t& robot, |
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const Contacts_t& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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static QPStaticStabilityPtr_t create(const std::string& name, |
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const DevicePtr_t& robot, |
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const std::vector<ForceData>& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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static QPStaticStabilityPtr_t create(const DevicePtr_t& robot, |
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const Contacts_t& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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MatrixOfExpressions<>& phi() { return phi_; } |
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protected: |
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bool isEqual(const DifferentiableFunction& other) const { |
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const QPStaticStability& castother = |
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dynamic_cast<const QPStaticStability&>(other); |
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if (!DifferentiableFunction::isEqual(other)) return false; |
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if (name() != castother.name()) return false; |
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if (robot_ != castother.robot_) return false; |
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if (nbContacts_ != castother.nbContacts_) return false; |
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if (com_ != castother.com_) return false; |
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if (Zeros != castother.Zeros) return false; |
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if (nWSR != castother.nWSR) return false; |
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return true; |
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} |
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private: |
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static const Eigen::Matrix<value_type, 6, 1> MinusGravity; |
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qpOASES::real_t* Zeros; |
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const qpOASES::int_t nWSR; |
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void impl_compute(LiegroupElementRef result, |
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ConfigurationIn_t argument) const; |
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void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t argument) const; |
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qpOASES::returnValue solveQP(vectorOut_t result) const; |
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bool checkQPSol() const; |
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bool checkStrictComplementarity() const; |
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DevicePtr_t robot_; |
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std::size_t nbContacts_; |
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CenterOfMassComputationPtr_t com_; |
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typedef MatrixOfExpressions<eigen::vector3_t, JacobianMatrix> MoE_t; |
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typedef Eigen::Matrix<qpOASES::real_t, Eigen::Dynamic, Eigen::Dynamic, |
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Eigen::RowMajor> |
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RowMajorMatrix_t; |
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typedef Eigen::Map<RowMajorMatrix_t> InvertStorageOrderMap_t; |
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typedef Eigen::Map<Eigen::Matrix<qpOASES::real_t, Eigen::Dynamic, 1> > |
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VectorMap_t; |
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typedef Eigen::Map<const vector_t> ConstVectorMap_t; |
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mutable RowMajorMatrix_t H_; |
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mutable vector_t G_; |
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mutable qpOASES::QProblemB qp_; |
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mutable MoE_t phi_; |
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mutable vector_t primal_, dual_; |
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}; |
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/// \} |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_STATIC_STABILITY_HH |
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