| Directory: | ./ |
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| File: | src/configuration-shooter/gaussian.cc |
| Date: | 2024-08-10 11:29:48 |
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| 1 | // Copyright (c) 2018, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include <math.h> | ||
| 30 | |||
| 31 | #include <boost/random/mersenne_twister.hpp> | ||
| 32 | #include <boost/random/normal_distribution.hpp> | ||
| 33 | #include <hpp/core/configuration-shooter/gaussian.hh> | ||
| 34 | #include <hpp/pinocchio/configuration.hh> | ||
| 35 | #include <hpp/pinocchio/joint-collection.hh> | ||
| 36 | #include <hpp/pinocchio/liegroup.hh> | ||
| 37 | #include <pinocchio/algorithm/joint-configuration.hpp> | ||
| 38 | #include <pinocchio/multibody/model.hpp> | ||
| 39 | |||
| 40 | namespace hpp { | ||
| 41 | namespace core { | ||
| 42 | namespace configurationShooter { | ||
| 43 | namespace liegroup = pinocchio::liegroup; | ||
| 44 | |||
| 45 | template <typename LG1, typename LG2> | ||
| 46 | void computeSigmasAlgo(liegroup::CartesianProductOperation<LG1, LG2> lg, | ||
| 47 | vectorOut_t sigmas, vectorIn_t upper, vectorIn_t lower); | ||
| 48 | |||
| 49 | template <int N> | ||
| 50 | 4 | void computeSigmasAlgo(liegroup::SpecialOrthogonalOperation<N>, | |
| 51 | vectorOut_t sigmas, vectorIn_t, vectorIn_t) { | ||
| 52 |
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4 | sigmas.setConstant(2 * M_PI / std::sqrt((value_type)N)); |
| 53 | } | ||
| 54 | |||
| 55 | template <int N> | ||
| 56 | 4 | void computeSigmasAlgo(liegroup::SpecialEuclideanOperation<N>, | |
| 57 | vectorOut_t sigmas, vectorIn_t upper, vectorIn_t lower) { | ||
| 58 | typedef liegroup::CartesianProductOperation< | ||
| 59 | liegroup::VectorSpaceOperation<N, true>, | ||
| 60 | liegroup::SpecialOrthogonalOperation<N> > | ||
| 61 | LG_t; | ||
| 62 |
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4 | computeSigmasAlgo(LG_t(), sigmas, upper, lower); |
| 63 | } | ||
| 64 | |||
| 65 | template <int N, bool rot> | ||
| 66 | 108 | void computeSigmasAlgo(liegroup::VectorSpaceOperation<N, rot>, | |
| 67 | vectorOut_t sigmas, vectorIn_t upper, vectorIn_t lower) { | ||
| 68 | // TODO isFinite was added after 3.2.4 | ||
| 69 | // sigmas.array() = | ||
| 70 | // (upper.array().isFinite() && lower.array().isFinite()) | ||
| 71 | // .select (upper - lower, 1); | ||
| 72 |
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224 | for (size_type i = 0; i < sigmas.size(); ++i) { |
| 73 |
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116 | if (Eigen::numext::isfinite(upper(i)) && Eigen::numext::isfinite(lower(i))) |
| 74 | 116 | sigmas(i) = upper(i) - lower(i); | |
| 75 | else | ||
| 76 | ✗ | sigmas(i) = 1.; | |
| 77 | } | ||
| 78 | } | ||
| 79 | |||
| 80 | template <typename LG1, typename LG2> | ||
| 81 | 4 | void computeSigmasAlgo(liegroup::CartesianProductOperation<LG1, LG2>, | |
| 82 | vectorOut_t sigmas, vectorIn_t upper, vectorIn_t lower) { | ||
| 83 |
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4 | computeSigmasAlgo(LG1(), sigmas.head(LG1::NV), upper.head(LG1::NQ), |
| 84 | 4 | lower.head(LG1::NQ)); | |
| 85 |
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4 | computeSigmasAlgo(LG2(), sigmas.tail(LG2::NV), upper.tail(LG2::NQ), |
| 86 | 4 | lower.tail(LG2::NQ)); | |
| 87 | } | ||
| 88 | |||
| 89 | struct ComputeSigmasStep | ||
| 90 | : public ::pinocchio::fusion::JointUnaryVisitorBase<ComputeSigmasStep> { | ||
| 91 | typedef boost::fusion::vector<const pinocchio::Model&, vector_t&> ArgsType; | ||
| 92 | |||
| 93 | template <typename JointModel> | ||
| 94 | 108 | static void algo(const ::pinocchio::JointModelBase<JointModel>& jmodel, | |
| 95 | const pinocchio::Model& model, vector_t& sigmas) { | ||
| 96 | typedef typename pinocchio::DefaultLieGroupMap::operation<JointModel>::type | ||
| 97 | LG_t; | ||
| 98 |
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216 | computeSigmasAlgo(LG_t(), jmodel.jointVelocitySelector(sigmas), |
| 99 |
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216 | jmodel.jointConfigSelector(model.upperPositionLimit), |
| 100 | 108 | jmodel.jointConfigSelector(model.lowerPositionLimit)); | |
| 101 | } | ||
| 102 | }; | ||
| 103 | |||
| 104 | 11 | void Gaussian::impl_shoot(Configuration_t& config) const { | |
| 105 |
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11 | static boost::random::mt19937 eng; |
| 106 |
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11 | vector_t velocity(robot_->numberDof()); |
| 107 |
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363 | for (size_type i = 0; i < velocity.size(); ++i) { |
| 108 |
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352 | boost::random::normal_distribution<value_type> distrib(0, sigmas_[i]); |
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352 | velocity[i] = distrib(eng); |
| 110 | } | ||
| 111 | |||
| 112 |
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11 | config.resize(robot_->configSize()); |
| 113 |
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11 | vector_t center(center_); |
| 114 |
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11 | if (center.size() == 0) { |
| 115 | // center has not been initialized, use robot neutral configuration | ||
| 116 | ✗ | center = robot_->neutralConfiguration(); | |
| 117 | } | ||
| 118 |
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11 | ::hpp::pinocchio::integrate(robot_, center_, velocity, config); |
| 119 |
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11 | ::hpp::pinocchio::saturate(robot_, config); |
| 120 | 11 | } | |
| 121 | |||
| 122 | 2 | void Gaussian::sigma(const value_type& factor) { | |
| 123 | 2 | const pinocchio::Model& model = robot_->model(); | |
| 124 |
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2 | ComputeSigmasStep::ArgsType args(model, sigmas_); |
| 125 |
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56 | for (std::size_t i = 1; i < model.joints.size(); ++i) |
| 126 |
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54 | ComputeSigmasStep::run(model.joints[i], args); |
| 127 | |||
| 128 |
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2 | sigmas_ *= factor; |
| 129 | 2 | } | |
| 130 | } // namespace configurationShooter | ||
| 131 | } // namespace core | ||
| 132 | } // namespace hpp | ||
| 133 |