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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "crocoddyl/multibody/utils/quadruped-gaits.hpp" |
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#include "crocoddyl/core/costs/residual.hpp" |
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namespace crocoddyl { |
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SimpleQuadrupedGaitProblem::SimpleQuadrupedGaitProblem( |
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const pinocchio::Model& rmodel, const std::string& lf_foot, |
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const std::string& rf_foot, const std::string& lh_foot, |
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const std::string& rh_foot) |
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: rmodel_(rmodel), |
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rdata_(rmodel_), |
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lf_foot_id_(rmodel_.getFrameId( |
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lf_foot, |
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(pinocchio::FrameType)(pinocchio::JOINT | pinocchio::FIXED_JOINT | |
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pinocchio::BODY))), |
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rf_foot_id_(rmodel_.getFrameId( |
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rf_foot, |
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(pinocchio::FrameType)(pinocchio::JOINT | pinocchio::FIXED_JOINT | |
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pinocchio::BODY))), |
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lh_foot_id_(rmodel_.getFrameId( |
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lh_foot, |
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(pinocchio::FrameType)(pinocchio::JOINT | pinocchio::FIXED_JOINT | |
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pinocchio::BODY))), |
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rh_foot_id_(rmodel_.getFrameId( |
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rh_foot, |
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(pinocchio::FrameType)(pinocchio::JOINT | pinocchio::FIXED_JOINT | |
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pinocchio::BODY))), |
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state_(std::make_shared<crocoddyl::StateMultibody>( |
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std::make_shared<pinocchio::Model>(rmodel_))), |
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actuation_( |
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std::make_shared<crocoddyl::ActuationModelFloatingBase>(state_)), |
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firtstep_(true), |
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defaultstate_(rmodel_.nq + rmodel_.nv) { |
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defaultstate_.head(rmodel_.nq) = rmodel_.referenceConfigurations["standing"]; |
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defaultstate_.tail(rmodel_.nv).setZero(); |
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} |
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SimpleQuadrupedGaitProblem::~SimpleQuadrupedGaitProblem() {} |
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std::shared_ptr<crocoddyl::ShootingProblem> |
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SimpleQuadrupedGaitProblem::createWalkingProblem( |
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const Eigen::VectorXd& x0, const double steplength, const double stepheight, |
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const double timestep, const std::size_t stepknots, |
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const std::size_t supportknots) { |
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int nq = rmodel_.nq; |
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// Initial Condition |
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const Eigen::VectorBlock<const Eigen::VectorXd> q0 = x0.head(nq); |
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pinocchio::forwardKinematics(rmodel_, rdata_, q0); |
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pinocchio::centerOfMass(rmodel_, rdata_, q0); |
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pinocchio::updateFramePlacements(rmodel_, rdata_); |
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const pinocchio::SE3::Vector3& rf_foot_pos0 = |
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rdata_.oMf[rf_foot_id_].translation(); |
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const pinocchio::SE3::Vector3& rh_foot_pos0 = |
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rdata_.oMf[rh_foot_id_].translation(); |
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const pinocchio::SE3::Vector3& lf_foot_pos0 = |
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rdata_.oMf[lf_foot_id_].translation(); |
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const pinocchio::SE3::Vector3& lh_foot_pos0 = |
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rdata_.oMf[lh_foot_id_].translation(); |
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pinocchio::SE3::Vector3 comRef = |
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(rf_foot_pos0 + rh_foot_pos0 + lf_foot_pos0 + lh_foot_pos0) / 4; |
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comRef[2] = rdata_.com[0][2]; |
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// Defining the action models along the time instances |
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std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract> > loco3d_model; |
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std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract> > rh_step, |
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rf_step, lh_step, lf_step; |
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// doublesupport |
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std::vector<pinocchio::FrameIndex> support_feet; |
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support_feet.push_back(lf_foot_id_); |
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support_feet.push_back(rf_foot_id_); |
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support_feet.push_back(lh_foot_id_); |
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support_feet.push_back(rh_foot_id_); |
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Eigen::Vector3d nullCoM = |
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Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity()); |
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std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract> > doubleSupport( |
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supportknots, createSwingFootModel(timestep, support_feet, nullCoM)); |
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const pinocchio::FrameIndex rh_s[] = {lf_foot_id_, rf_foot_id_, lh_foot_id_}; |
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const pinocchio::FrameIndex rf_s[] = {lf_foot_id_, lh_foot_id_, rh_foot_id_}; |
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const pinocchio::FrameIndex lh_s[] = {lf_foot_id_, rf_foot_id_, rh_foot_id_}; |
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const pinocchio::FrameIndex lf_s[] = {rf_foot_id_, lh_foot_id_, rh_foot_id_}; |
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std::vector<pinocchio::FrameIndex> rh_support( |
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rh_s, rh_s + sizeof(rh_s) / sizeof(rh_s[0])); |
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std::vector<pinocchio::FrameIndex> rf_support( |
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rf_s, rf_s + sizeof(rf_s) / sizeof(rf_s[0])); |
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std::vector<pinocchio::FrameIndex> lh_support( |
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lh_s, lh_s + sizeof(lh_s) / sizeof(lh_s[0])); |
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std::vector<pinocchio::FrameIndex> lf_support( |
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lf_s, lf_s + sizeof(lf_s) / sizeof(lf_s[0])); |
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std::vector<pinocchio::FrameIndex> rh_foot(1, rh_foot_id_); |
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std::vector<pinocchio::FrameIndex> rf_foot(1, rf_foot_id_); |
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std::vector<pinocchio::FrameIndex> lf_foot(1, lf_foot_id_); |
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std::vector<pinocchio::FrameIndex> lh_foot(1, lh_foot_id_); |
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std::vector<Eigen::Vector3d> rh_foot_pos0_v(1, rh_foot_pos0); |
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std::vector<Eigen::Vector3d> lh_foot_pos0_v(1, lh_foot_pos0); |
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std::vector<Eigen::Vector3d> rf_foot_pos0_v(1, rf_foot_pos0); |
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std::vector<Eigen::Vector3d> lf_foot_pos0_v(1, lf_foot_pos0); |
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if (firtstep_) { |
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rh_step = |
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createFootStepModels(timestep, comRef, rh_foot_pos0_v, 0.5 * steplength, |
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stepheight, stepknots, rh_support, rh_foot); |
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rf_step = |
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createFootStepModels(timestep, comRef, rf_foot_pos0_v, 0.5 * steplength, |
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stepheight, stepknots, rf_support, rf_foot); |
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firtstep_ = false; |
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} else { |
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rh_step = createFootStepModels(timestep, comRef, rh_foot_pos0_v, steplength, |
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stepheight, stepknots, rh_support, rh_foot); |
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rf_step = createFootStepModels(timestep, comRef, rf_foot_pos0_v, steplength, |
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stepheight, stepknots, rf_support, rf_foot); |
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} |
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lh_step = createFootStepModels(timestep, comRef, lh_foot_pos0_v, steplength, |
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stepheight, stepknots, lh_support, lh_foot); |
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lf_step = createFootStepModels(timestep, comRef, lf_foot_pos0_v, steplength, |
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stepheight, stepknots, lf_support, lf_foot); |
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loco3d_model.insert(loco3d_model.end(), doubleSupport.begin(), |
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doubleSupport.end()); |
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loco3d_model.insert(loco3d_model.end(), rh_step.begin(), rh_step.end()); |
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loco3d_model.insert(loco3d_model.end(), rf_step.begin(), rf_step.end()); |
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loco3d_model.insert(loco3d_model.end(), doubleSupport.begin(), |
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doubleSupport.end()); |
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loco3d_model.insert(loco3d_model.end(), lh_step.begin(), lh_step.end()); |
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loco3d_model.insert(loco3d_model.end(), lf_step.begin(), lf_step.end()); |
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return std::make_shared<crocoddyl::ShootingProblem>(x0, loco3d_model, |
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loco3d_model.back()); |
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} |
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std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract> > |
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SimpleQuadrupedGaitProblem::createFootStepModels( |
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double timestep, Eigen::Vector3d& com_pos0, |
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std::vector<Eigen::Vector3d>& feet_pos0, double steplength, |
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double stepheight, std::size_t n_knots, |
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const std::vector<pinocchio::FrameIndex>& support_foot_ids, |
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const std::vector<pinocchio::FrameIndex>& swingFootIds) { |
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std::size_t n_legs = |
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static_cast<std::size_t>(support_foot_ids.size() + swingFootIds.size()); |
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double com_percentage = |
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static_cast<double>(swingFootIds.size()) / static_cast<double>(n_legs); |
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// Action models for the foot swing |
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std::vector<std::shared_ptr<ActionModelAbstract> > foot_swing_model; |
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std::vector<pinocchio::FrameIndex> id_foot_swing_task; |
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std::vector<pinocchio::SE3> ref_foot_swing_task; |
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for (std::size_t k = 0; k < n_knots; ++k) { |
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double _kp1_n = 0; |
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Eigen::Vector3d dp = Eigen::Vector3d::Zero(); |
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id_foot_swing_task.clear(); |
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ref_foot_swing_task.clear(); |
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for (std::size_t i = 0; i < swingFootIds.size(); ++i) { |
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// Defining a foot swing task given the step length resKnot = n_knots % 2 |
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std::size_t phaseknots = n_knots >> 1; // bitwise divide. |
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_kp1_n = static_cast<double>(k + 1) / static_cast<double>(n_knots); |
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double _k = static_cast<double>(k); |
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double _phaseknots = static_cast<double>(phaseknots); |
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if (k < phaseknots) |
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dp << steplength * _kp1_n, 0., stepheight * _k / _phaseknots; |
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else if (k == phaseknots) |
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dp << steplength * _kp1_n, 0., stepheight; |
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else |
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dp << steplength * _kp1_n, 0., |
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stepheight * (1 - (_k - _phaseknots) / _phaseknots); |
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Eigen::Vector3d tref = feet_pos0[i] + dp; |
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id_foot_swing_task.push_back(swingFootIds[i]); |
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ref_foot_swing_task.push_back( |
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pinocchio::SE3(Eigen::Matrix3d::Identity(), tref)); |
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} |
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// Action model for the foot switch |
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Eigen::Vector3d com_task = |
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Eigen::Vector3d(steplength * _kp1_n, 0., 0.) * com_percentage + |
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com_pos0; |
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foot_swing_model.push_back( |
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createSwingFootModel(timestep, support_foot_ids, com_task, |
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id_foot_swing_task, ref_foot_swing_task)); |
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} |
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// Action model for the foot switch |
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foot_swing_model.push_back(createFootSwitchModel( |
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support_foot_ids, id_foot_swing_task, ref_foot_swing_task)); |
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// Updating the current foot position for next step |
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com_pos0 += Eigen::Vector3d(steplength * com_percentage, 0., 0.); |
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for (std::size_t i = 0; i < feet_pos0.size(); ++i) { |
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feet_pos0[i] += Eigen::Vector3d(steplength, 0., 0.); |
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} |
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return foot_swing_model; |
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} |
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std::shared_ptr<crocoddyl::ActionModelAbstract> |
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SimpleQuadrupedGaitProblem::createSwingFootModel( |
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double timestep, const std::vector<pinocchio::FrameIndex>& support_foot_ids, |
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const Eigen::Vector3d& com_task, |
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const std::vector<pinocchio::FrameIndex>& id_foot_swing_task, |
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const std::vector<pinocchio::SE3>& ref_foot_swing_task) { |
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// Creating a 3D multi-contact model, and then including the supporting foot |
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std::shared_ptr<crocoddyl::ContactModelMultiple> contact_model = |
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std::make_shared<crocoddyl::ContactModelMultiple>(state_, |
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actuation_->get_nu()); |
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for (std::vector<pinocchio::FrameIndex>::const_iterator it = |
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support_foot_ids.begin(); |
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it != support_foot_ids.end(); ++it) { |
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std::shared_ptr<crocoddyl::ContactModelAbstract> support_contact_model = |
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std::make_shared<crocoddyl::ContactModel3D>( |
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state_, *it, Eigen::Vector3d::Zero(), |
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pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, |
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actuation_->get_nu(), Eigen::Vector2d(0., 50.)); |
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contact_model->addContact(rmodel_.frames[*it].name + "_contact", |
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support_contact_model); |
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} |
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// Creating the cost model for a contact phase |
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std::shared_ptr<crocoddyl::CostModelSum> cost_model = |
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std::make_shared<crocoddyl::CostModelSum>(state_, actuation_->get_nu()); |
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if (com_task.array().allFinite()) { |
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std::shared_ptr<crocoddyl::CostModelAbstract> com_track = |
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std::make_shared<crocoddyl::CostModelResidual>( |
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state_, std::make_shared<crocoddyl::ResidualModelCoMPosition>( |
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state_, com_task, actuation_->get_nu())); |
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cost_model->addCost("comTrack", com_track, 1e6); |
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} |
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if (!id_foot_swing_task.empty() && !ref_foot_swing_task.empty()) { |
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for (std::size_t i = 0; i < id_foot_swing_task.size(); ++i) { |
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const pinocchio::FrameIndex id = id_foot_swing_task[i]; |
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std::shared_ptr<crocoddyl::CostModelAbstract> foot_track = |
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std::make_shared<crocoddyl::CostModelResidual>( |
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state_, |
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std::make_shared<crocoddyl::ResidualModelFrameTranslation>( |
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state_, id, ref_foot_swing_task[i].translation(), |
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actuation_->get_nu())); |
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cost_model->addCost(rmodel_.frames[id].name + "_footTrack", foot_track, |
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1e6); |
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} |
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} |
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Eigen::VectorXd state_weights(2 * rmodel_.nv); |
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state_weights.head<3>().fill(0.); |
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state_weights.segment<3>(3).fill(pow(500., 2)); |
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state_weights.segment(6, rmodel_.nv - 6).fill(pow(0.01, 2)); |
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state_weights.segment(rmodel_.nv, 6).fill(pow(10., 2)); |
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state_weights.segment(rmodel_.nv + 6, rmodel_.nv - 6).fill(pow(1., 2)); |
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std::shared_ptr<crocoddyl::ActivationModelAbstract> state_activation = |
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std::make_shared<crocoddyl::ActivationModelWeightedQuad>(state_weights); |
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std::shared_ptr<crocoddyl::CostModelAbstract> state_reg = |
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std::make_shared<crocoddyl::CostModelResidual>( |
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state_, state_activation, |
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std::make_shared<crocoddyl::ResidualModelState>( |
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state_, defaultstate_, actuation_->get_nu())); |
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std::shared_ptr<crocoddyl::CostModelAbstract> ctrl_reg = |
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std::make_shared<crocoddyl::CostModelResidual>( |
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state_, std::make_shared<crocoddyl::ResidualModelControl>( |
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state_, actuation_->get_nu())); |
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✗ |
cost_model->addCost("stateReg", state_reg, 1e1); |
| 270 |
|
✗ |
cost_model->addCost("ctrlReg", ctrl_reg, 1e-1); |
| 271 |
|
|
|
| 272 |
|
|
// Creating the action model for the KKT dynamics with simpletic Euler |
| 273 |
|
|
// integration scheme |
| 274 |
|
|
std::shared_ptr<crocoddyl::DifferentialActionModelAbstract> dmodel = |
| 275 |
|
✗ |
std::make_shared<crocoddyl::DifferentialActionModelContactFwdDynamics>( |
| 276 |
|
✗ |
state_, actuation_, contact_model, cost_model); |
| 277 |
|
✗ |
return std::make_shared<crocoddyl::IntegratedActionModelEuler>(dmodel, |
| 278 |
|
✗ |
timestep); |
| 279 |
|
|
} |
| 280 |
|
|
|
| 281 |
|
|
std::shared_ptr<ActionModelAbstract> |
| 282 |
|
✗ |
SimpleQuadrupedGaitProblem::createFootSwitchModel( |
| 283 |
|
|
const std::vector<pinocchio::FrameIndex>& support_foot_ids, |
| 284 |
|
|
const std::vector<pinocchio::FrameIndex>& id_foot_swing_task, |
| 285 |
|
|
const std::vector<pinocchio::SE3>& ref_foot_swing_task, |
| 286 |
|
|
bool pseudo_impulse) { |
| 287 |
|
✗ |
if (pseudo_impulse) { |
| 288 |
|
|
return createPseudoImpulseModel(support_foot_ids, id_foot_swing_task, |
| 289 |
|
✗ |
ref_foot_swing_task); |
| 290 |
|
|
} else { |
| 291 |
|
|
return createImpulseModel(support_foot_ids, id_foot_swing_task, |
| 292 |
|
✗ |
ref_foot_swing_task); |
| 293 |
|
|
} |
| 294 |
|
|
} |
| 295 |
|
|
|
| 296 |
|
|
std::shared_ptr<crocoddyl::ActionModelAbstract> |
| 297 |
|
✗ |
SimpleQuadrupedGaitProblem::createPseudoImpulseModel( |
| 298 |
|
|
const std::vector<pinocchio::FrameIndex>& support_foot_ids, |
| 299 |
|
|
const std::vector<pinocchio::FrameIndex>& id_foot_swing_task, |
| 300 |
|
|
const std::vector<pinocchio::SE3>& ref_foot_swing_task) { |
| 301 |
|
|
// Creating a 3D multi-contact model, and then including the supporting foot |
| 302 |
|
|
std::shared_ptr<crocoddyl::ContactModelMultiple> contact_model = |
| 303 |
|
✗ |
std::make_shared<crocoddyl::ContactModelMultiple>(state_, |
| 304 |
|
✗ |
actuation_->get_nu()); |
| 305 |
|
✗ |
for (std::vector<pinocchio::FrameIndex>::const_iterator it = |
| 306 |
|
✗ |
support_foot_ids.begin(); |
| 307 |
|
✗ |
it != support_foot_ids.end(); ++it) { |
| 308 |
|
|
std::shared_ptr<crocoddyl::ContactModelAbstract> support_contact_model = |
| 309 |
|
✗ |
std::make_shared<crocoddyl::ContactModel3D>( |
| 310 |
|
✗ |
state_, *it, Eigen::Vector3d::Zero(), |
| 311 |
|
✗ |
pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, |
| 312 |
|
✗ |
actuation_->get_nu(), Eigen::Vector2d(0., 50.)); |
| 313 |
|
✗ |
contact_model->addContact(rmodel_.frames[*it].name + "_contact", |
| 314 |
|
|
support_contact_model); |
| 315 |
|
|
} |
| 316 |
|
|
|
| 317 |
|
|
// Creating the cost model for a contact phase |
| 318 |
|
|
std::shared_ptr<crocoddyl::CostModelSum> cost_model = |
| 319 |
|
✗ |
std::make_shared<crocoddyl::CostModelSum>(state_, actuation_->get_nu()); |
| 320 |
|
✗ |
if (!id_foot_swing_task.empty() && !ref_foot_swing_task.empty()) { |
| 321 |
|
✗ |
for (std::size_t i = 0; i < id_foot_swing_task.size(); ++i) { |
| 322 |
|
✗ |
const pinocchio::FrameIndex id = id_foot_swing_task[i]; |
| 323 |
|
|
std::shared_ptr<crocoddyl::CostModelAbstract> foot_track = |
| 324 |
|
✗ |
std::make_shared<crocoddyl::CostModelResidual>( |
| 325 |
|
✗ |
state_, |
| 326 |
|
✗ |
std::make_shared<crocoddyl::ResidualModelFrameTranslation>( |
| 327 |
|
✗ |
state_, id, ref_foot_swing_task[i].translation(), |
| 328 |
|
✗ |
actuation_->get_nu())); |
| 329 |
|
|
std::shared_ptr<crocoddyl::CostModelAbstract> impulse_foot_vel = |
| 330 |
|
✗ |
std::make_shared<crocoddyl::CostModelResidual>( |
| 331 |
|
✗ |
state_, |
| 332 |
|
✗ |
std::make_shared<crocoddyl::ResidualModelFrameVelocity>( |
| 333 |
|
✗ |
state_, id, pinocchio::Motion::Zero(), |
| 334 |
|
✗ |
pinocchio::ReferenceFrame::LOCAL, actuation_->get_nu())); |
| 335 |
|
✗ |
cost_model->addCost(rmodel_.frames[id].name + "_footTrack", foot_track, |
| 336 |
|
|
1e7); |
| 337 |
|
✗ |
cost_model->addCost(rmodel_.frames[id].name + "_impulseVel", |
| 338 |
|
|
impulse_foot_vel, 1e6); |
| 339 |
|
|
} |
| 340 |
|
|
} |
| 341 |
|
✗ |
Eigen::VectorXd state_weights(2 * rmodel_.nv); |
| 342 |
|
✗ |
state_weights.head<3>().fill(0.); |
| 343 |
|
✗ |
state_weights.segment<3>(3).fill(pow(500., 2)); |
| 344 |
|
✗ |
state_weights.segment(6, rmodel_.nv - 6).fill(pow(0.01, 2)); |
| 345 |
|
✗ |
state_weights.segment(rmodel_.nv, rmodel_.nv).fill(pow(10., 2)); |
| 346 |
|
|
std::shared_ptr<crocoddyl::ActivationModelAbstract> state_activation = |
| 347 |
|
✗ |
std::make_shared<crocoddyl::ActivationModelWeightedQuad>(state_weights); |
| 348 |
|
|
std::shared_ptr<crocoddyl::CostModelAbstract> state_reg = |
| 349 |
|
✗ |
std::make_shared<crocoddyl::CostModelResidual>( |
| 350 |
|
✗ |
state_, state_activation, |
| 351 |
|
✗ |
std::make_shared<crocoddyl::ResidualModelState>( |
| 352 |
|
✗ |
state_, defaultstate_, actuation_->get_nu())); |
| 353 |
|
|
std::shared_ptr<crocoddyl::CostModelAbstract> ctrl_reg = |
| 354 |
|
✗ |
std::make_shared<crocoddyl::CostModelResidual>( |
| 355 |
|
✗ |
state_, std::make_shared<crocoddyl::ResidualModelControl>( |
| 356 |
|
✗ |
state_, actuation_->get_nu())); |
| 357 |
|
✗ |
cost_model->addCost("stateReg", state_reg, 1e1); |
| 358 |
|
✗ |
cost_model->addCost("ctrlReg", ctrl_reg, 1e-3); |
| 359 |
|
|
|
| 360 |
|
|
// Creating the action model for the KKT dynamics with simpletic Euler |
| 361 |
|
|
// integration scheme |
| 362 |
|
|
std::shared_ptr<crocoddyl::DifferentialActionModelAbstract> dmodel = |
| 363 |
|
✗ |
std::make_shared<crocoddyl::DifferentialActionModelContactFwdDynamics>( |
| 364 |
|
✗ |
state_, actuation_, contact_model, cost_model); |
| 365 |
|
✗ |
return std::make_shared<crocoddyl::IntegratedActionModelEuler>(dmodel, 0.); |
| 366 |
|
|
} |
| 367 |
|
|
|
| 368 |
|
|
std::shared_ptr<ActionModelAbstract> |
| 369 |
|
✗ |
SimpleQuadrupedGaitProblem::createImpulseModel( |
| 370 |
|
|
const std::vector<pinocchio::FrameIndex>& support_foot_ids, |
| 371 |
|
|
const std::vector<pinocchio::FrameIndex>& id_foot_swing_task, |
| 372 |
|
|
const std::vector<pinocchio::SE3>& ref_foot_swing_task) { |
| 373 |
|
|
// Creating a 3D multi-contact model, and then including the supporting foot |
| 374 |
|
|
std::shared_ptr<crocoddyl::ImpulseModelMultiple> impulse_model = |
| 375 |
|
✗ |
std::make_shared<crocoddyl::ImpulseModelMultiple>(state_); |
| 376 |
|
✗ |
for (std::vector<pinocchio::FrameIndex>::const_iterator it = |
| 377 |
|
✗ |
support_foot_ids.begin(); |
| 378 |
|
✗ |
it != support_foot_ids.end(); ++it) { |
| 379 |
|
|
std::shared_ptr<crocoddyl::ImpulseModelAbstract> support_contact_model = |
| 380 |
|
✗ |
std::make_shared<crocoddyl::ImpulseModel3D>( |
| 381 |
|
✗ |
state_, *it, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED); |
| 382 |
|
✗ |
impulse_model->addImpulse(rmodel_.frames[*it].name + "_impulse", |
| 383 |
|
|
support_contact_model); |
| 384 |
|
|
} |
| 385 |
|
|
|
| 386 |
|
|
// Creating the cost model for a contact phase |
| 387 |
|
|
std::shared_ptr<crocoddyl::CostModelSum> cost_model = |
| 388 |
|
✗ |
std::make_shared<crocoddyl::CostModelSum>(state_, 0); |
| 389 |
|
✗ |
if (!id_foot_swing_task.empty() && !ref_foot_swing_task.empty()) { |
| 390 |
|
✗ |
for (std::size_t i = 0; i < id_foot_swing_task.size(); ++i) { |
| 391 |
|
✗ |
const pinocchio::FrameIndex id = id_foot_swing_task[i]; |
| 392 |
|
|
std::shared_ptr<crocoddyl::CostModelAbstract> foot_track = |
| 393 |
|
✗ |
std::make_shared<crocoddyl::CostModelResidual>( |
| 394 |
|
✗ |
state_, |
| 395 |
|
✗ |
std::make_shared<crocoddyl::ResidualModelFrameTranslation>( |
| 396 |
|
✗ |
state_, id, ref_foot_swing_task[i].translation(), 0)); |
| 397 |
|
✗ |
cost_model->addCost(rmodel_.frames[id].name + "_footTrack", foot_track, |
| 398 |
|
|
1e7); |
| 399 |
|
|
} |
| 400 |
|
|
} |
| 401 |
|
✗ |
Eigen::VectorXd state_weights(2 * rmodel_.nv); |
| 402 |
|
✗ |
state_weights.head<6>().fill(1.); |
| 403 |
|
✗ |
state_weights.segment(6, rmodel_.nv - 6).fill(pow(10., 2)); |
| 404 |
|
✗ |
state_weights.segment(rmodel_.nv, rmodel_.nv).fill(pow(10., 2)); |
| 405 |
|
|
std::shared_ptr<crocoddyl::ActivationModelAbstract> state_activation = |
| 406 |
|
✗ |
std::make_shared<crocoddyl::ActivationModelWeightedQuad>(state_weights); |
| 407 |
|
|
std::shared_ptr<crocoddyl::CostModelAbstract> state_reg = |
| 408 |
|
✗ |
std::make_shared<crocoddyl::CostModelResidual>( |
| 409 |
|
✗ |
state_, state_activation, |
| 410 |
|
✗ |
std::make_shared<crocoddyl::ResidualModelState>(state_, defaultstate_, |
| 411 |
|
✗ |
0)); |
| 412 |
|
✗ |
cost_model->addCost("stateReg", state_reg, 1e1); |
| 413 |
|
|
|
| 414 |
|
|
// Creating the action model for the KKT dynamics with simpletic Euler |
| 415 |
|
|
// integration scheme |
| 416 |
|
✗ |
return std::make_shared<crocoddyl::ActionModelImpulseFwdDynamics>( |
| 417 |
|
✗ |
state_, impulse_model, cost_model); |
| 418 |
|
|
} |
| 419 |
|
|
|
| 420 |
|
✗ |
const Eigen::VectorXd& SimpleQuadrupedGaitProblem::get_defaultState() const { |
| 421 |
|
✗ |
return defaultstate_; |
| 422 |
|
|
} |
| 423 |
|
|
|
| 424 |
|
|
} // namespace crocoddyl |
| 425 |
|
|
|