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File: | src/path-optimization/spline-gradient-based/joint-bounds.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2017, 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 | #ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_JOINT_BOUNDS_HH | ||
30 | #define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_JOINT_BOUNDS_HH | ||
31 | |||
32 | #include <hpp/core/path/spline.hh> | ||
33 | #include <hpp/pinocchio/joint-collection.hh> | ||
34 | #include <hpp/pinocchio/liegroup.hh> | ||
35 | #include <pinocchio/algorithm/joint-configuration.hpp> | ||
36 | |||
37 | namespace hpp { | ||
38 | namespace core { | ||
39 | namespace pathOptimization { | ||
40 | using hpp::pinocchio::RnxSOnLieGroupMap; | ||
41 | using hpp::pinocchio::liegroup::CartesianProductOperation; | ||
42 | using hpp::pinocchio::liegroup::SpecialOrthogonalOperation; | ||
43 | using hpp::pinocchio::liegroup::VectorSpaceOperation; | ||
44 | |||
45 | template <typename LieGroup> | ||
46 | struct JointBoundConstraintAlgo {}; | ||
47 | |||
48 | template <int Size, bool rot> | ||
49 | struct JointBoundConstraintAlgo<VectorSpaceOperation<Size, rot> > { | ||
50 | 132 | static void run(const size_type& idxV, vectorIn_t low, vectorIn_t up, | |
51 | vectorIn_t neutral, matrix_t& A, vector_t& b, | ||
52 | size_type& row) { | ||
53 | // size_type row; | ||
54 |
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324 | for (std::size_t i = 0; i < Size; ++i) { |
55 |
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192 | if (!std::isinf(low(i))) { |
56 | // row = A.rows(); | ||
57 | // A.conservativeResize(A.rows() + 1, A.cols()); | ||
58 | // b.conservativeResize(b.rows() + 1); | ||
59 |
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192 | A.row(row).setZero(); |
60 | 192 | A(row, idxV + i) = -1; | |
61 | 192 | b(row) = -(low(i) - neutral(i)); | |
62 | 192 | row++; | |
63 | } | ||
64 |
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192 | if (!std::isinf(up(i))) { |
65 | // row = A.rows(); | ||
66 | // A.conservativeResize(A.rows() + 1, A.cols()); | ||
67 | // b.conservativeResize(b.rows() + 1); | ||
68 |
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192 | A.row(row).setZero(); |
69 | 192 | A(row, idxV + i) = 1; | |
70 | 192 | b(row) = up(i) - neutral(i); | |
71 | 192 | row++; | |
72 | } | ||
73 | } | ||
74 | } | ||
75 | }; | ||
76 | |||
77 | template <int N> | ||
78 | struct JointBoundConstraintAlgo<SpecialOrthogonalOperation<N> > { | ||
79 | 60 | static void run(const size_type&, vectorIn_t, vectorIn_t, vectorIn_t, | |
80 | 60 | matrix_t&, vector_t&, size_type&) {} | |
81 | }; | ||
82 | |||
83 | template <typename LieGroup1, typename LieGroup2> | ||
84 | struct JointBoundConstraintAlgo< | ||
85 | CartesianProductOperation<LieGroup1, LieGroup2> > { | ||
86 | 60 | static void run(const size_type& idxV, vectorIn_t low, vectorIn_t up, | |
87 | vectorIn_t neutral, matrix_t& A, vector_t& b, | ||
88 | size_type& row) { | ||
89 |
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180 | JointBoundConstraintAlgo<LieGroup1>::run( |
90 |
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180 | idxV, low.head<LieGroup1::NQ>(), up.head<LieGroup1::NQ>(), |
91 | 60 | neutral.head<LieGroup1::NQ>(), A, b, row); | |
92 |
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180 | JointBoundConstraintAlgo<LieGroup2>::run( |
93 |
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120 | idxV + LieGroup1::NV, low.tail<LieGroup2::NQ>(), |
94 |
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180 | up.tail<LieGroup2::NQ>(), neutral.tail<LieGroup1::NQ>(), A, b, row); |
95 | } | ||
96 | }; | ||
97 | |||
98 | struct JointBoundConstraintStep | ||
99 | : public ::pinocchio::fusion::JointUnaryVisitorBase< | ||
100 | JointBoundConstraintStep> { | ||
101 | typedef boost::fusion::vector<vectorIn_t, vectorIn_t, vectorIn_t, matrix_t&, | ||
102 | vector_t&, size_type&> | ||
103 | ArgsType; | ||
104 | |||
105 | template <typename JointModel> | ||
106 | 132 | static void algo(const ::pinocchio::JointModelBase<JointModel>& jmodel, | |
107 | vectorIn_t low, vectorIn_t up, vectorIn_t neutral, | ||
108 | matrix_t& A, vector_t& b, size_type& row) { | ||
109 | typedef typename RnxSOnLieGroupMap::operation<JointModel>::type LG_t; | ||
110 |
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396 | JointBoundConstraintAlgo<LG_t>::run( |
111 |
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264 | jmodel.idx_v(), jmodel.jointConfigSelector(low), |
112 |
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396 | jmodel.jointConfigSelector(up), jmodel.jointConfigSelector(neutral), A, |
113 | b, row); | ||
114 | } | ||
115 | }; | ||
116 | |||
117 | // The bounds are satisfied iif A * v <= b, where v is the velocity from | ||
118 | // the neutral configuration. | ||
119 | // We consider only vector-space. | ||
120 | // \retval A, b must be of the correct size. If you do not know the number | ||
121 | // of rows, set it to 2 * robot->numberDof() | ||
122 | // \return the number of rows that were set in A and b. The other rows are | ||
123 | // left untouched. | ||
124 | 66 | size_type jointBoundMatrices(const DevicePtr_t& d, ConfigurationIn_t neutral, | |
125 | matrix_t& A, vector_t& b) { | ||
126 | 66 | size_type row = 0; | |
127 | 66 | const pinocchio::Model& model = d->model(); | |
128 |
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132 | for (std::size_t i = 1; i < model.joints.size(); ++i) { |
129 |
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66 | JointBoundConstraintStep::run( |
130 | 132 | model.joints[i], JointBoundConstraintStep::ArgsType( | |
131 |
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66 | model.lowerPositionLimit, model.upperPositionLimit, |
132 | neutral, A, b, row)); | ||
133 | } | ||
134 | 66 | return row; | |
135 | // TODO handle extra dof | ||
136 | } | ||
137 | } // namespace pathOptimization | ||
138 | } // namespace core | ||
139 | } // namespace hpp | ||
140 | |||
141 | #endif // HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_COST_HH | ||
142 |