| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, LAAS-CNRS, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include <example-robot-data/path.hpp> | ||
| 10 | #include <pinocchio/parsers/srdf.hpp> | ||
| 11 | #include <pinocchio/parsers/urdf.hpp> | ||
| 12 | |||
| 13 | #include "crocoddyl/core/solvers/fddp.hpp" | ||
| 14 | #include "crocoddyl/core/utils/callbacks.hpp" | ||
| 15 | #include "crocoddyl/core/utils/timer.hpp" | ||
| 16 | #include "crocoddyl/multibody/utils/quadruped-gaits.hpp" | ||
| 17 | |||
| 18 | ✗ | int main(int argc, char* argv[]) { | |
| 19 | ✗ | bool CALLBACKS = false; | |
| 20 | ✗ | unsigned int T = 5e3; // number of trials | |
| 21 | ✗ | unsigned int MAXITER = 1; | |
| 22 | ✗ | if (argc > 1) { | |
| 23 | ✗ | T = atoi(argv[1]); | |
| 24 | } | ||
| 25 | |||
| 26 | ✗ | pinocchio::Model model; | |
| 27 | ✗ | pinocchio::urdf::buildModel(EXAMPLE_ROBOT_DATA_MODEL_DIR | |
| 28 | "/hyq_description/robots/hyq_no_sensors.urdf", | ||
| 29 | ✗ | pinocchio::JointModelFreeFlyer(), model); | |
| 30 | ✗ | pinocchio::srdf::loadReferenceConfigurations( | |
| 31 | model, EXAMPLE_ROBOT_DATA_MODEL_DIR "/hyq_description/srdf/hyq.srdf", | ||
| 32 | false); | ||
| 33 | |||
| 34 | crocoddyl::SimpleQuadrupedGaitProblem gait(model, "lf_foot", "rf_foot", | ||
| 35 | ✗ | "lh_foot", "rh_foot"); | |
| 36 | |||
| 37 | ✗ | const Eigen::VectorXd& x0 = gait.get_defaultState(); | |
| 38 | |||
| 39 | // Walking gait_phase | ||
| 40 | ✗ | const double stepLength(0.25), stepHeight(0.25), timeStep(1e-2); | |
| 41 | ✗ | const unsigned int stepKnots(25), supportKnots(2); | |
| 42 | |||
| 43 | // DDP Solver | ||
| 44 | std::shared_ptr<crocoddyl::ShootingProblem> problem = | ||
| 45 | gait.createWalkingProblem(x0, stepLength, stepHeight, timeStep, stepKnots, | ||
| 46 | ✗ | supportKnots); | |
| 47 | ✗ | crocoddyl::SolverFDDP solver(problem); | |
| 48 | ✗ | if (CALLBACKS) { | |
| 49 | ✗ | std::vector<std::shared_ptr<crocoddyl::CallbackAbstract> > cbs; | |
| 50 | ✗ | cbs.push_back(std::make_shared<crocoddyl::CallbackVerbose>()); | |
| 51 | ✗ | solver.setCallbacks(cbs); | |
| 52 | ✗ | } | |
| 53 | |||
| 54 | // Initial State | ||
| 55 | ✗ | const std::size_t N = solver.get_problem()->get_T(); | |
| 56 | ✗ | std::vector<Eigen::VectorXd> xs(N, x0); | |
| 57 | ✗ | std::vector<Eigen::VectorXd> us = problem->quasiStatic_xs(xs); | |
| 58 | ✗ | xs.push_back(x0); | |
| 59 | |||
| 60 | ✗ | std::cout << "NQ: " | |
| 61 | ✗ | << solver.get_problem()->get_terminalModel()->get_state()->get_nq() | |
| 62 | ✗ | << std::endl; | |
| 63 | ✗ | std::cout << "Number of nodes: " << N << std::endl; | |
| 64 | |||
| 65 | // Solving the optimal control problem | ||
| 66 | ✗ | Eigen::ArrayXd duration(T); | |
| 67 | ✗ | for (unsigned int i = 0; i < T; ++i) { | |
| 68 | ✗ | crocoddyl::Timer timer; | |
| 69 | ✗ | solver.solve(xs, us, MAXITER, false, 0.1); | |
| 70 | ✗ | duration[i] = timer.get_duration(); | |
| 71 | } | ||
| 72 | |||
| 73 | ✗ | double avrg_duration = duration.mean(); | |
| 74 | ✗ | double min_duration = duration.minCoeff(); | |
| 75 | ✗ | double max_duration = duration.maxCoeff(); | |
| 76 | ✗ | std::cout << " FDDP.solve [ms]: " << avrg_duration << " (" << min_duration | |
| 77 | ✗ | << "-" << max_duration << ")" << std::endl; | |
| 78 | |||
| 79 | // Running calc | ||
| 80 | ✗ | for (unsigned int i = 0; i < T; ++i) { | |
| 81 | ✗ | crocoddyl::Timer timer; | |
| 82 | ✗ | problem->calc(xs, us); | |
| 83 | ✗ | duration[i] = timer.get_duration(); | |
| 84 | } | ||
| 85 | |||
| 86 | ✗ | avrg_duration = duration.sum() / T; | |
| 87 | ✗ | min_duration = duration.minCoeff(); | |
| 88 | ✗ | max_duration = duration.maxCoeff(); | |
| 89 | ✗ | std::cout << " ShootingProblem.calc [ms]: " << avrg_duration << " (" | |
| 90 | ✗ | << min_duration << "-" << max_duration << ")" << std::endl; | |
| 91 | |||
| 92 | // Running calcDiff | ||
| 93 | ✗ | for (unsigned int i = 0; i < T; ++i) { | |
| 94 | ✗ | crocoddyl::Timer timer; | |
| 95 | ✗ | problem->calcDiff(xs, us); | |
| 96 | ✗ | duration[i] = timer.get_duration(); | |
| 97 | } | ||
| 98 | |||
| 99 | ✗ | avrg_duration = duration.sum() / T; | |
| 100 | ✗ | min_duration = duration.minCoeff(); | |
| 101 | ✗ | max_duration = duration.maxCoeff(); | |
| 102 | ✗ | std::cout << " ShootingProblem.calcDiff [ms]: " << avrg_duration << " (" | |
| 103 | ✗ | << min_duration << "-" << max_duration << ")" << std::endl; | |
| 104 | ✗ | } | |
| 105 |