| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 93 | 132 | 70.5% |
| Branches: | 77 | 226 | 34.1% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2014-2025, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_ACTUATIONS_PROPELLERS_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_ACTUATIONS_PROPELLERS_HPP_ | ||
| 11 | |||
| 12 | #include <pinocchio/multibody/fwd.hpp> | ||
| 13 | #include <pinocchio/spatial/se3.hpp> | ||
| 14 | #include <vector> | ||
| 15 | |||
| 16 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 17 | #include "crocoddyl/core/utils/conversions.hpp" | ||
| 18 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 19 | |||
| 20 | namespace crocoddyl { | ||
| 21 | |||
| 22 | enum ThrusterType { CW = 0, CCW }; | ||
| 23 | |||
| 24 | template <typename _Scalar> | ||
| 25 | struct ThrusterTpl { | ||
| 26 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 27 | |||
| 28 | typedef _Scalar Scalar; | ||
| 29 | typedef pinocchio::SE3Tpl<Scalar> SE3; | ||
| 30 | typedef ThrusterTpl<Scalar> Thruster; | ||
| 31 | |||
| 32 | /** | ||
| 33 | * @brief Initialize the thruster in a give pose from the root joint. | ||
| 34 | * | ||
| 35 | * @param pose[in] Pose from root joint | ||
| 36 | * @param ctorque[in] Coefficient of generated torque per thrust | ||
| 37 | * @param type[in] Type of thruster (clockwise or counterclockwise, | ||
| 38 | * default clockwise) | ||
| 39 | * @param[in] min_thrust[in] Minimum thrust (default 0.) | ||
| 40 | * @param[in] max_thrust[in] Maximum thrust (default inf number)) | ||
| 41 | */ | ||
| 42 | 6648 | ThrusterTpl(const SE3& pose, const Scalar ctorque, | |
| 43 | const ThrusterType type = CW, | ||
| 44 | const Scalar min_thrust = Scalar(0.), | ||
| 45 | const Scalar max_thrust = std::numeric_limits<Scalar>::infinity()) | ||
| 46 | 6648 | : pose(pose), | |
| 47 | 6648 | ctorque(ctorque), | |
| 48 | 6648 | type(type), | |
| 49 | 6648 | min_thrust(min_thrust), | |
| 50 | 6648 | max_thrust(max_thrust) {} | |
| 51 | |||
| 52 | /** | ||
| 53 | * @brief Initialize the thruster in a pose in the origin of the root joint. | ||
| 54 | * | ||
| 55 | * @param pose[in] Pose from root joint | ||
| 56 | * @param ctorque[in] Coefficient of generated torque per thrust | ||
| 57 | * @param type[in] Type of thruster (clockwise or counterclockwise, | ||
| 58 | * default clockwise) | ||
| 59 | * @param[in] min_thrust[in] Minimum thrust (default 0.) | ||
| 60 | * @param[in] max_thrust[in] Maximum thrust (default inf number)) | ||
| 61 | */ | ||
| 62 | ✗ | ThrusterTpl(const Scalar ctorque, const ThrusterType type = CW, | |
| 63 | const Scalar min_thrust = Scalar(0.), | ||
| 64 | const Scalar max_thrust = std::numeric_limits<Scalar>::infinity()) | ||
| 65 | ✗ | : pose(SE3::Identity()), | |
| 66 | ✗ | ctorque(ctorque), | |
| 67 | ✗ | type(type), | |
| 68 | ✗ | min_thrust(min_thrust), | |
| 69 | ✗ | max_thrust(max_thrust) {} | |
| 70 | 12499 | ThrusterTpl(const ThrusterTpl<Scalar>& clone) | |
| 71 | 12545 | : pose(clone.pose), | |
| 72 | 12545 | ctorque(clone.ctorque), | |
| 73 | 12545 | type(clone.type), | |
| 74 | 12545 | min_thrust(clone.min_thrust), | |
| 75 | 12545 | max_thrust(clone.max_thrust) {} | |
| 76 | |||
| 77 | template <typename NewScalar> | ||
| 78 | 20 | ThrusterTpl<NewScalar> cast() const { | |
| 79 | typedef ThrusterTpl<NewScalar> ReturnType; | ||
| 80 |
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20 | ReturnType ret( |
| 81 | 20 | pose.template cast<NewScalar>(), scalar_cast<NewScalar>(ctorque), type, | |
| 82 | 20 | scalar_cast<NewScalar>(min_thrust), scalar_cast<NewScalar>(max_thrust)); | |
| 83 | 20 | return ret; | |
| 84 | } | ||
| 85 | |||
| 86 | ✗ | ThrusterTpl& operator=(const ThrusterTpl<Scalar>& other) { | |
| 87 | ✗ | if (this != &other) { | |
| 88 | ✗ | pose = other.pose; | |
| 89 | ✗ | ctorque = other.ctorque; | |
| 90 | ✗ | type = other.type; | |
| 91 | ✗ | min_thrust = other.min_thrust; | |
| 92 | ✗ | max_thrust = other.max_thrust; | |
| 93 | } | ||
| 94 | ✗ | return *this; | |
| 95 | } | ||
| 96 | |||
| 97 | template <typename OtherScalar> | ||
| 98 | ✗ | bool operator==(const ThrusterTpl<OtherScalar>& other) const { | |
| 99 | ✗ | return (pose == other.pose && ctorque == other.ctorque && | |
| 100 | ✗ | type == other.type && min_thrust == other.min_thrust && | |
| 101 | ✗ | max_thrust == other.max_thrust); | |
| 102 | } | ||
| 103 | |||
| 104 | ✗ | friend std::ostream& operator<<(std::ostream& os, | |
| 105 | const ThrusterTpl<Scalar>& X) { | ||
| 106 | ✗ | os << " pose:" << std::endl | |
| 107 | ✗ | << X.pose << " ctorque: " << X.ctorque << std::endl | |
| 108 | ✗ | << " type: " << X.type << std::endl | |
| 109 | ✗ | << "min_thrust: " << X.min_thrust << std::endl | |
| 110 | ✗ | << "max_thrust: " << X.max_thrust << std::endl; | |
| 111 | ✗ | return os; | |
| 112 | } | ||
| 113 | |||
| 114 | SE3 pose; //!< Thruster pose | ||
| 115 | Scalar ctorque; //!< Coefficient of generated torque per thrust | ||
| 116 | ThrusterType type; //!< Type of thruster (CW and CCW for clockwise and | ||
| 117 | //!< counterclockwise, respectively) | ||
| 118 | Scalar min_thrust; //!< Minimum thrust | ||
| 119 | Scalar max_thrust; //!< Minimum thrust | ||
| 120 | }; | ||
| 121 | |||
| 122 | /** | ||
| 123 | * @brief Actuation models for floating base systems actuated with thrusters | ||
| 124 | * | ||
| 125 | * This actuation model models floating base robots equipped with thrusters, | ||
| 126 | * e.g., multicopters or marine robots equipped with manipulators. It control | ||
| 127 | * inputs are the thrusters' thrust (i.e., forces) and joint torques. | ||
| 128 | * | ||
| 129 | * Both actuation and Jacobians are computed analytically by `calc` and | ||
| 130 | * `calcDiff`, respectively. | ||
| 131 | * | ||
| 132 | * We assume the robot velocity to zero for easily related square thruster | ||
| 133 | * velocities with thrust and torque generated. This approach is similarly | ||
| 134 | * implemented in M. Geisert and N. Mansard, "Trajectory generation for | ||
| 135 | * quadrotor based systems using numerical optimal control", (ICRA). See Section | ||
| 136 | * III.C. | ||
| 137 | * | ||
| 138 | * \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 139 | */ | ||
| 140 | template <typename _Scalar> | ||
| 141 | class ActuationModelFloatingBaseThrustersTpl | ||
| 142 | : public ActuationModelAbstractTpl<_Scalar> { | ||
| 143 | public: | ||
| 144 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 145 |
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20 | CROCODDYL_DERIVED_CAST(ActuationModelBase, |
| 146 | ActuationModelFloatingBaseThrustersTpl) | ||
| 147 | |||
| 148 | typedef _Scalar Scalar; | ||
| 149 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 150 | typedef ActuationModelAbstractTpl<Scalar> Base; | ||
| 151 | typedef ActuationDataAbstractTpl<Scalar> Data; | ||
| 152 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 153 | typedef ThrusterTpl<Scalar> Thruster; | ||
| 154 | typedef typename MathBase::Vector3s Vector3s; | ||
| 155 | typedef typename MathBase::VectorXs VectorXs; | ||
| 156 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 157 | |||
| 158 | /** | ||
| 159 | * @brief Initialize the floating base actuation model equipped with | ||
| 160 | * thrusters | ||
| 161 | * | ||
| 162 | * @param[in] state State of the dynamical system | ||
| 163 | * @param[in] thrusters Vector of thrusters | ||
| 164 | */ | ||
| 165 | 194 | ActuationModelFloatingBaseThrustersTpl(std::shared_ptr<StateMultibody> state, | |
| 166 | const std::vector<Thruster>& thrusters) | ||
| 167 | : Base(state, | ||
| 168 | 194 | state->get_nv() - | |
| 169 | 194 | state->get_pinocchio() | |
| 170 | 194 | ->joints[( | |
| 171 |
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388 | state->get_pinocchio()->existJointName("root_joint") |
| 172 |
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388 | ? state->get_pinocchio()->getJointId("root_joint") |
| 173 | : 0)] | ||
| 174 |
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194 | .nv() + |
| 175 | 194 | thrusters.size()), | |
| 176 | 194 | thrusters_(thrusters), | |
| 177 | 194 | n_thrusters_(thrusters.size()), | |
| 178 |
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194 | W_thrust_(state_->get_nv(), nu_), |
| 179 |
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776 | update_data_(true) { |
| 180 |
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194 | if (!state->get_pinocchio()->existJointName("root_joint")) { |
| 181 | ✗ | throw_pretty( | |
| 182 | "Invalid argument: " | ||
| 183 | << "the first joint has to be a root one (e.g., free-flyer joint)"); | ||
| 184 | } | ||
| 185 | // Update the joint actuation part | ||
| 186 |
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194 | W_thrust_.setZero(); |
| 187 |
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194 | if (nu_ > n_thrusters_) { |
| 188 |
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83 | W_thrust_.bottomRightCorner(nu_ - n_thrusters_, nu_ - n_thrusters_) |
| 189 | .diagonal() | ||
| 190 |
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83 | .setOnes(); |
| 191 | } | ||
| 192 | // Update the floating base actuation part | ||
| 193 |
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194 | set_thrusters(thrusters_); |
| 194 | 194 | } | |
| 195 | 402 | virtual ~ActuationModelFloatingBaseThrustersTpl() = default; | |
| 196 | |||
| 197 | /** | ||
| 198 | * @brief Compute the actuation signal and actuation set from its thrust | ||
| 199 | * and joint torque inputs \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 200 | * | ||
| 201 | * @param[in] data Floating base thrusters actuation data | ||
| 202 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 203 | * @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 204 | */ | ||
| 205 | 8870 | virtual void calc(const std::shared_ptr<Data>& data, | |
| 206 | const Eigen::Ref<const VectorXs>&, | ||
| 207 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 208 |
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8870 | if (static_cast<std::size_t>(u.size()) != nu_) { |
| 209 | ✗ | throw_pretty( | |
| 210 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 211 | std::to_string(nu_) + ")"); | ||
| 212 | } | ||
| 213 |
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8870 | if (update_data_) { |
| 214 | ✗ | updateData(data); | |
| 215 | } | ||
| 216 |
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8870 | data->tau.noalias() = data->dtau_du * u; |
| 217 | 8870 | } | |
| 218 | |||
| 219 | /** | ||
| 220 | * @brief Compute the Jacobians of the floating base thruster actuation | ||
| 221 | * function | ||
| 222 | * | ||
| 223 | * @param[in] data Floating base thrusters actuation data | ||
| 224 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 225 | * @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 226 | */ | ||
| 227 | #ifndef NDEBUG | ||
| 228 | 1604 | virtual void calcDiff(const std::shared_ptr<Data>& data, | |
| 229 | const Eigen::Ref<const VectorXs>&, | ||
| 230 | const Eigen::Ref<const VectorXs>&) override { | ||
| 231 | #else | ||
| 232 | virtual void calcDiff(const std::shared_ptr<Data>&, | ||
| 233 | const Eigen::Ref<const VectorXs>&, | ||
| 234 | const Eigen::Ref<const VectorXs>&) override { | ||
| 235 | #endif | ||
| 236 | // The derivatives has constant values which were set in createData. | ||
| 237 |
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1604 | assert_pretty(MatrixXs(data->dtau_du).isApprox(W_thrust_), |
| 238 | "dtau_du has wrong value"); | ||
| 239 | 1604 | } | |
| 240 | |||
| 241 | 2314 | virtual void commands(const std::shared_ptr<Data>& data, | |
| 242 | const Eigen::Ref<const VectorXs>&, | ||
| 243 | const Eigen::Ref<const VectorXs>& tau) override { | ||
| 244 |
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2314 | data->u.noalias() = data->Mtau * tau; |
| 245 | 2314 | } | |
| 246 | |||
| 247 | #ifndef NDEBUG | ||
| 248 | 630 | virtual void torqueTransform(const std::shared_ptr<Data>& data, | |
| 249 | const Eigen::Ref<const VectorXs>&, | ||
| 250 | const Eigen::Ref<const VectorXs>&) override { | ||
| 251 | #else | ||
| 252 | virtual void torqueTransform(const std::shared_ptr<Data>&, | ||
| 253 | const Eigen::Ref<const VectorXs>&, | ||
| 254 | const Eigen::Ref<const VectorXs>&) override { | ||
| 255 | #endif | ||
| 256 | // The torque transform has constant values which were set in createData. | ||
| 257 |
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630 | assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value"); |
| 258 | 630 | } | |
| 259 | |||
| 260 | /** | ||
| 261 | * @brief Create the floating base thruster actuation data | ||
| 262 | * | ||
| 263 | * @return the actuation data | ||
| 264 | */ | ||
| 265 | 6518 | virtual std::shared_ptr<Data> createData() override { | |
| 266 |
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6518 | std::shared_ptr<Data> data = |
| 267 | 6518 | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 268 |
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6518 | updateData(data); |
| 269 | 6518 | return data; | |
| 270 | } | ||
| 271 | |||
| 272 | template <typename NewScalar> | ||
| 273 | 5 | ActuationModelFloatingBaseThrustersTpl<NewScalar> cast() const { | |
| 274 | typedef ActuationModelFloatingBaseThrustersTpl<NewScalar> ReturnType; | ||
| 275 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 276 | typedef ThrusterTpl<NewScalar> ThrusterType; | ||
| 277 |
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5 | std::vector<ThrusterType> thrusters = vector_cast<NewScalar>(thrusters_); |
| 278 |
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10 | ReturnType ret( |
| 279 | 5 | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 280 | thrusters); | ||
| 281 | 10 | return ret; | |
| 282 | 5 | } | |
| 283 | |||
| 284 | /** | ||
| 285 | * @brief Return the vector of thrusters | ||
| 286 | */ | ||
| 287 | ✗ | const std::vector<Thruster>& get_thrusters() const { return thrusters_; } | |
| 288 | |||
| 289 | /** | ||
| 290 | * @brief Return the number of thrusters | ||
| 291 | */ | ||
| 292 | ✗ | std::size_t get_nthrusters() const { return n_thrusters_; } | |
| 293 | |||
| 294 | /** | ||
| 295 | * @brief Modify the vector of thrusters | ||
| 296 | * | ||
| 297 | * Since we don't want to allocate data, we request to pass the same | ||
| 298 | * number of thrusters. | ||
| 299 | * | ||
| 300 | * @param[in] thrusters Vector of thrusters | ||
| 301 | */ | ||
| 302 | 194 | void set_thrusters(const std::vector<Thruster>& thrusters) { | |
| 303 |
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194 | if (static_cast<std::size_t>(thrusters.size()) != n_thrusters_) { |
| 304 | ✗ | throw_pretty("Invalid argument: " | |
| 305 | << "the number of thrusters is wrong (it should be " + | ||
| 306 | std::to_string(n_thrusters_) + ")"); | ||
| 307 | } | ||
| 308 | 194 | thrusters_ = thrusters; | |
| 309 | // Update the mapping matrix from thrusters thrust to body force/moments | ||
| 310 |
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970 | for (std::size_t i = 0; i < n_thrusters_; ++i) { |
| 311 | 776 | const Thruster& p = thrusters_[i]; | |
| 312 |
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776 | const Vector3s& f_z = p.pose.rotation() * Vector3s::UnitZ(); |
| 313 |
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776 | W_thrust_.template topRows<3>().col(i) += f_z; |
| 314 |
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776 | W_thrust_.template middleRows<3>(3).col(i).noalias() += |
| 315 |
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776 | p.pose.translation().cross(f_z); |
| 316 |
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776 | switch (p.type) { |
| 317 | 388 | case CW: | |
| 318 |
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388 | W_thrust_.template middleRows<3>(3).col(i) += p.ctorque * f_z; |
| 319 | 388 | break; | |
| 320 | 388 | case CCW: | |
| 321 |
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388 | W_thrust_.template middleRows<3>(3).col(i) -= p.ctorque * f_z; |
| 322 | 388 | break; | |
| 323 | } | ||
| 324 | } | ||
| 325 | // Compute the torque transform matrix from generalized torques to joint | ||
| 326 | // torque inputs | ||
| 327 |
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194 | Mtau_ = pseudoInverse(W_thrust_); |
| 328 |
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194 | S_.noalias() = W_thrust_ * Mtau_; |
| 329 | 194 | update_data_ = true; | |
| 330 | 194 | } | |
| 331 | |||
| 332 | ✗ | const MatrixXs& get_Wthrust() const { return W_thrust_; } | |
| 333 | |||
| 334 | ✗ | const MatrixXs& get_S() const { return S_; } | |
| 335 | |||
| 336 | ✗ | void print(std::ostream& os) const override { | |
| 337 | ✗ | os << "ActuationModelFloatingBaseThrusters {nu=" << nu_ | |
| 338 | ✗ | << ", nthrusters=" << n_thrusters_ << ", thrusters=" << std::endl; | |
| 339 | ✗ | for (std::size_t i = 0; i < n_thrusters_; ++i) { | |
| 340 | ✗ | os << std::to_string(i) << ": " << thrusters_[i]; | |
| 341 | } | ||
| 342 | ✗ | os << "}"; | |
| 343 | } | ||
| 344 | |||
| 345 | protected: | ||
| 346 | std::vector<Thruster> thrusters_; //!< Vector of thrusters | ||
| 347 | std::size_t n_thrusters_; //!< Number of thrusters | ||
| 348 | MatrixXs W_thrust_; //!< Matrix from thrusters thrusts to body wrench | ||
| 349 | MatrixXs Mtau_; //!< Constaint torque transform from generalized torques to | ||
| 350 | //!< joint torque inputs | ||
| 351 | MatrixXs S_; //!< Selection matrix for under-actuation part | ||
| 352 | |||
| 353 | bool update_data_; | ||
| 354 | using Base::nu_; | ||
| 355 | using Base::state_; | ||
| 356 | |||
| 357 | private: | ||
| 358 | 6518 | void updateData(const std::shared_ptr<Data>& data) { | |
| 359 | 6518 | data->dtau_du = W_thrust_; | |
| 360 | 6518 | data->Mtau = Mtau_; | |
| 361 | 6518 | const std::size_t nv = state_->get_nv(); | |
| 362 |
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47568 | for (std::size_t k = 0; k < nv; ++k) { |
| 363 |
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41050 | if (fabs(S_(k, k)) < std::numeric_limits<Scalar>::epsilon()) { |
| 364 | 13036 | data->tau_set[k] = false; | |
| 365 | } else { | ||
| 366 | 28014 | data->tau_set[k] = true; | |
| 367 | } | ||
| 368 | } | ||
| 369 | 6518 | update_data_ = false; | |
| 370 | 6518 | } | |
| 371 | }; | ||
| 372 | |||
| 373 | } // namespace crocoddyl | ||
| 374 | |||
| 375 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 376 | crocoddyl::ActuationModelFloatingBaseThrustersTpl<double>; | ||
| 377 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 378 | crocoddyl::ActuationModelFloatingBaseThrustersTpl<float>; | ||
| 379 | |||
| 380 | #endif // CROCODDYL_MULTIBODY_ACTUATIONS_PROPELLERS_HPP_ | ||
| 381 |