| Directory: | ./ |
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| File: | src/path-optimization/spline-gradient-based/joint-bounds.hh |
| Date: | 2024-12-13 16:14:03 |
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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 |