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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2022, University of Edinburgh, IRI: CSIC-UPC | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "constraint.hpp" | ||
| 10 | |||
| 11 | #include "crocoddyl/core/constraints/residual.hpp" | ||
| 12 | #include "crocoddyl/core/residuals/control.hpp" | ||
| 13 | #include "crocoddyl/multibody/residuals/com-position.hpp" | ||
| 14 | #include "crocoddyl/multibody/residuals/frame-placement.hpp" | ||
| 15 | #include "crocoddyl/multibody/residuals/frame-rotation.hpp" | ||
| 16 | #include "crocoddyl/multibody/residuals/frame-translation.hpp" | ||
| 17 | #include "crocoddyl/multibody/residuals/frame-velocity.hpp" | ||
| 18 | #include "crocoddyl/multibody/residuals/state.hpp" | ||
| 19 | |||
| 20 | namespace crocoddyl { | ||
| 21 | namespace unittest { | ||
| 22 | |||
| 23 | const std::vector<ConstraintModelTypes::Type> ConstraintModelTypes::all( | ||
| 24 | ConstraintModelTypes::init_all()); | ||
| 25 | |||
| 26 | ✗ | std::ostream& operator<<(std::ostream& os, ConstraintModelTypes::Type type) { | |
| 27 | ✗ | switch (type) { | |
| 28 | ✗ | case ConstraintModelTypes::ConstraintModelResidualStateEquality: | |
| 29 | ✗ | os << "ConstraintModelResidualStateEquality"; | |
| 30 | ✗ | break; | |
| 31 | ✗ | case ConstraintModelTypes::ConstraintModelResidualStateInequality: | |
| 32 | ✗ | os << "ConstraintModelResidualStateInequality"; | |
| 33 | ✗ | break; | |
| 34 | ✗ | case ConstraintModelTypes::ConstraintModelResidualControlEquality: | |
| 35 | ✗ | os << "ConstraintModelResidualControlEquality"; | |
| 36 | ✗ | break; | |
| 37 | ✗ | case ConstraintModelTypes::ConstraintModelResidualControlInequality: | |
| 38 | ✗ | os << "ConstraintModelResidualControlInequality"; | |
| 39 | ✗ | break; | |
| 40 | ✗ | case ConstraintModelTypes::ConstraintModelResidualCoMPositionEquality: | |
| 41 | ✗ | os << "ConstraintModelResidualCoMPositionEquality"; | |
| 42 | ✗ | break; | |
| 43 | ✗ | case ConstraintModelTypes::ConstraintModelResidualCoMPositionInequality: | |
| 44 | ✗ | os << "ConstraintModelResidualCoMPositionInequality"; | |
| 45 | ✗ | break; | |
| 46 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFramePlacementEquality: | |
| 47 | ✗ | os << "ConstraintModelResidualFramePlacementEquality"; | |
| 48 | ✗ | break; | |
| 49 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFramePlacementInequality: | |
| 50 | ✗ | os << "ConstraintModelResidualFramePlacementInequality"; | |
| 51 | ✗ | break; | |
| 52 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameRotationEquality: | |
| 53 | ✗ | os << "ConstraintModelResidualFrameRotationEquality"; | |
| 54 | ✗ | break; | |
| 55 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameRotationInequality: | |
| 56 | ✗ | os << "ConstraintModelResidualFrameRotationInequality"; | |
| 57 | ✗ | break; | |
| 58 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameTranslationEquality: | |
| 59 | ✗ | os << "ConstraintModelResidualFrameTranslationEquality"; | |
| 60 | ✗ | break; | |
| 61 | ✗ | case ConstraintModelTypes:: | |
| 62 | ConstraintModelResidualFrameTranslationInequality: | ||
| 63 | ✗ | os << "ConstraintModelResidualFrameTranslationInequality"; | |
| 64 | ✗ | break; | |
| 65 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameVelocityEquality: | |
| 66 | ✗ | os << "ConstraintModelResidualFrameVelocityEquality"; | |
| 67 | ✗ | break; | |
| 68 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameVelocityInequality: | |
| 69 | ✗ | os << "ConstraintModelResidualFrameVelocityInequality"; | |
| 70 | ✗ | break; | |
| 71 | ✗ | case ConstraintModelTypes::NbConstraintModelTypes: | |
| 72 | ✗ | os << "NbConstraintModelTypes"; | |
| 73 | ✗ | break; | |
| 74 | ✗ | default: | |
| 75 | ✗ | break; | |
| 76 | } | ||
| 77 | ✗ | return os; | |
| 78 | } | ||
| 79 | |||
| 80 | ✗ | ConstraintModelFactory::ConstraintModelFactory() {} | |
| 81 | ✗ | ConstraintModelFactory::~ConstraintModelFactory() {} | |
| 82 | |||
| 83 | std::shared_ptr<crocoddyl::ConstraintModelAbstract> | ||
| 84 | ✗ | ConstraintModelFactory::create(ConstraintModelTypes::Type constraint_type, | |
| 85 | StateModelTypes::Type state_type, | ||
| 86 | std::size_t nu) const { | ||
| 87 | ✗ | StateModelFactory state_factory; | |
| 88 | ✗ | std::shared_ptr<crocoddyl::ConstraintModelAbstract> constraint; | |
| 89 | std::shared_ptr<crocoddyl::StateMultibody> state = | ||
| 90 | std::static_pointer_cast<crocoddyl::StateMultibody>( | ||
| 91 | ✗ | state_factory.create(state_type)); | |
| 92 | ✗ | pinocchio::FrameIndex frame_index = state->get_pinocchio()->frames.size() - 1; | |
| 93 | ✗ | pinocchio::SE3 frame_SE3 = pinocchio::SE3::Random(); | |
| 94 | ✗ | pinocchio::Motion frame_motion = pinocchio::Motion::Random(); | |
| 95 | ✗ | if (nu == std::numeric_limits<std::size_t>::max()) { | |
| 96 | ✗ | nu = state->get_nv(); | |
| 97 | } | ||
| 98 | ✗ | Eigen::VectorXd lb, ub; | |
| 99 | ✗ | switch (constraint_type) { | |
| 100 | ✗ | case ConstraintModelTypes::ConstraintModelResidualStateEquality: | |
| 101 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 102 | ✗ | state, std::make_shared<crocoddyl::ResidualModelState>( | |
| 103 | ✗ | state, state->rand(), nu)); | |
| 104 | ✗ | break; | |
| 105 | ✗ | case ConstraintModelTypes::ConstraintModelResidualStateInequality: | |
| 106 | ✗ | lb = Eigen::VectorXd::Zero(state->get_ndx()); | |
| 107 | ✗ | ub = Eigen::VectorXd::Zero(state->get_ndx()); | |
| 108 | ✗ | state->diff(state->zero(), state->zero(), lb); | |
| 109 | ✗ | state->diff(state->zero(), state->rand().cwiseAbs(), ub); | |
| 110 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 111 | state, | ||
| 112 | ✗ | std::make_shared<crocoddyl::ResidualModelState>(state, state->rand(), | |
| 113 | nu), | ||
| 114 | ✗ | lb, ub.cwiseAbs()); | |
| 115 | ✗ | break; | |
| 116 | ✗ | case ConstraintModelTypes::ConstraintModelResidualControlEquality: | |
| 117 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 118 | ✗ | state, std::make_shared<crocoddyl::ResidualModelControl>( | |
| 119 | ✗ | state, Eigen::VectorXd::Random(nu))); | |
| 120 | ✗ | break; | |
| 121 | ✗ | case ConstraintModelTypes::ConstraintModelResidualControlInequality: | |
| 122 | ✗ | lb = Eigen::VectorXd::Zero(nu); | |
| 123 | ✗ | lb(0) = -INFINITY; | |
| 124 | ✗ | ub = Eigen::VectorXd::Random(nu).cwiseAbs(); | |
| 125 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 126 | state, | ||
| 127 | ✗ | std::make_shared<crocoddyl::ResidualModelControl>( | |
| 128 | ✗ | state, Eigen::VectorXd::Random(nu)), | |
| 129 | ✗ | lb, ub); | |
| 130 | ✗ | break; | |
| 131 | ✗ | case ConstraintModelTypes::ConstraintModelResidualCoMPositionEquality: | |
| 132 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 133 | ✗ | state, std::make_shared<crocoddyl::ResidualModelCoMPosition>( | |
| 134 | ✗ | state, Eigen::Vector3d::Random(), nu)); | |
| 135 | ✗ | break; | |
| 136 | ✗ | case ConstraintModelTypes::ConstraintModelResidualCoMPositionInequality: | |
| 137 | ✗ | lb = Eigen::Vector3d(0., -INFINITY, 0.); | |
| 138 | ✗ | ub = Eigen::Vector3d::Random().cwiseAbs(); | |
| 139 | ✗ | ub(2) = INFINITY; | |
| 140 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 141 | state, | ||
| 142 | ✗ | std::make_shared<crocoddyl::ResidualModelCoMPosition>( | |
| 143 | ✗ | state, Eigen::Vector3d::Random(), nu), | |
| 144 | ✗ | lb, ub); | |
| 145 | ✗ | break; | |
| 146 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFramePlacementEquality: | |
| 147 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 148 | ✗ | state, std::make_shared<crocoddyl::ResidualModelFramePlacement>( | |
| 149 | ✗ | state, frame_index, frame_SE3, nu)); | |
| 150 | ✗ | break; | |
| 151 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFramePlacementInequality: | |
| 152 | ✗ | lb = MathBaseTpl<double>::Vector6s::Zero(); | |
| 153 | ✗ | lb.tail<3>() << -INFINITY, -INFINITY, -INFINITY; | |
| 154 | ✗ | ub = MathBaseTpl<double>::Vector6s::Random().cwiseAbs(); | |
| 155 | ✗ | ub.head<3>() << INFINITY, INFINITY, INFINITY; | |
| 156 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 157 | state, | ||
| 158 | ✗ | std::make_shared<crocoddyl::ResidualModelFramePlacement>( | |
| 159 | state, frame_index, frame_SE3, nu), | ||
| 160 | ✗ | lb, ub); | |
| 161 | ✗ | break; | |
| 162 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameRotationEquality: | |
| 163 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 164 | ✗ | state, std::make_shared<crocoddyl::ResidualModelFrameRotation>( | |
| 165 | ✗ | state, frame_index, frame_SE3.rotation(), nu)); | |
| 166 | ✗ | break; | |
| 167 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameRotationInequality: | |
| 168 | ✗ | lb = Eigen::Vector3d::Zero(); | |
| 169 | ✗ | lb(1) = -INFINITY; | |
| 170 | ✗ | ub = Eigen::Vector3d::Random().cwiseAbs(); | |
| 171 | ✗ | ub(2) = INFINITY; | |
| 172 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 173 | state, | ||
| 174 | ✗ | std::make_shared<crocoddyl::ResidualModelFrameRotation>( | |
| 175 | ✗ | state, frame_index, frame_SE3.rotation(), nu), | |
| 176 | ✗ | lb, ub); | |
| 177 | ✗ | break; | |
| 178 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameTranslationEquality: | |
| 179 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 180 | ✗ | state, std::make_shared<crocoddyl::ResidualModelFrameTranslation>( | |
| 181 | ✗ | state, frame_index, frame_SE3.translation(), nu)); | |
| 182 | ✗ | break; | |
| 183 | ✗ | case ConstraintModelTypes:: | |
| 184 | ConstraintModelResidualFrameTranslationInequality: | ||
| 185 | ✗ | lb = -1 * Eigen::Vector3d::Random().cwiseAbs(); | |
| 186 | ✗ | ub = Eigen::Vector3d::Random().cwiseAbs(); | |
| 187 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 188 | state, | ||
| 189 | ✗ | std::make_shared<crocoddyl::ResidualModelFrameTranslation>( | |
| 190 | ✗ | state, frame_index, frame_SE3.translation(), nu), | |
| 191 | ✗ | lb, ub); | |
| 192 | ✗ | break; | |
| 193 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameVelocityEquality: | |
| 194 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 195 | ✗ | state, std::make_shared<crocoddyl::ResidualModelFrameVelocity>( | |
| 196 | ✗ | state, frame_index, frame_motion, pinocchio::LOCAL, nu)); | |
| 197 | ✗ | break; | |
| 198 | ✗ | case ConstraintModelTypes::ConstraintModelResidualFrameVelocityInequality: | |
| 199 | ✗ | lb = -1 * MathBaseTpl<double>::Vector6s::Random().cwiseAbs(); | |
| 200 | ✗ | lb(0) = -INFINITY; | |
| 201 | ✗ | ub = MathBaseTpl<double>::Vector6s::Random().cwiseAbs(); | |
| 202 | ✗ | ub(0) = INFINITY; | |
| 203 | ✗ | constraint = std::make_shared<crocoddyl::ConstraintModelResidual>( | |
| 204 | state, | ||
| 205 | ✗ | std::make_shared<crocoddyl::ResidualModelFrameVelocity>( | |
| 206 | ✗ | state, frame_index, frame_motion, pinocchio::LOCAL, nu), | |
| 207 | ✗ | lb, ub); | |
| 208 | ✗ | break; | |
| 209 | ✗ | default: | |
| 210 | ✗ | throw_pretty(__FILE__ ": Wrong ConstraintModelType::Type given"); | |
| 211 | break; | ||
| 212 | } | ||
| 213 | ✗ | return constraint; | |
| 214 | ✗ | } | |
| 215 | |||
| 216 | ✗ | std::shared_ptr<crocoddyl::ConstraintModelAbstract> create_random_constraint( | |
| 217 | StateModelTypes::Type state_type) { | ||
| 218 | static bool once = true; | ||
| 219 | ✗ | if (once) { | |
| 220 | ✗ | srand((unsigned)time(NULL)); | |
| 221 | ✗ | once = false; | |
| 222 | } | ||
| 223 | |||
| 224 | ✗ | ConstraintModelFactory factory; | |
| 225 | ConstraintModelTypes::Type rand_type = | ||
| 226 | static_cast<ConstraintModelTypes::Type>( | ||
| 227 | ✗ | rand() % ConstraintModelTypes::NbConstraintModelTypes); | |
| 228 | ✗ | return factory.create(rand_type, state_type); | |
| 229 | ✗ | } | |
| 230 | |||
| 231 | } // namespace unittest | ||
| 232 | } // namespace crocoddyl | ||
| 233 |