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#ifndef __quadruped_walkgen_quadruped_hpp__ |
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#define __quadruped_walkgen_quadruped_hpp__ |
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#include <stdexcept> |
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#include "crocoddyl/core/action-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/states/euclidean.hpp" |
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#include "crocoddyl/core/utils/timer.hpp" |
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#include "crocoddyl/multibody/friction-cone.hpp" |
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namespace quadruped_walkgen { |
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template <typename _Scalar> |
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class ActionModelQuadrupedTpl |
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: public crocoddyl::ActionModelAbstractTpl<_Scalar> { |
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public: |
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typedef _Scalar Scalar; |
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typedef crocoddyl::ActionDataAbstractTpl<Scalar> ActionDataAbstract; |
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typedef crocoddyl::ActionModelAbstractTpl<Scalar> Base; |
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typedef crocoddyl::MathBaseTpl<Scalar> MathBase; |
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ActionModelQuadrupedTpl(typename Eigen::Matrix<Scalar, 3, 1> offset_CoM = |
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Eigen::Matrix<Scalar, 3, 1>::Zero()); |
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~ActionModelQuadrupedTpl(); |
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virtual void calc(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const typename MathBase::VectorXs>& x, |
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const Eigen::Ref<const typename MathBase::VectorXs>& u); |
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virtual void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const typename MathBase::VectorXs>& x, |
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const Eigen::Ref<const typename MathBase::VectorXs>& u); |
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virtual boost::shared_ptr<ActionDataAbstract> createData(); |
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// Get and Set weights vectors : state , force & friction cone : |
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const typename Eigen::Matrix<Scalar, 12, 1>& get_force_weights() const; |
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void set_force_weights(const typename MathBase::VectorXs& weights); |
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const typename Eigen::Matrix<Scalar, 12, 1>& get_state_weights() const; |
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void set_state_weights(const typename MathBase::VectorXs& weights); |
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const Scalar& get_friction_weight() const; |
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void set_friction_weight(const Scalar& weight); |
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const Scalar& get_mu() const; |
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void set_mu(const Scalar& mu_coeff); |
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const Scalar& get_mass() const; |
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void set_mass(const Scalar& m); |
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const Scalar& get_dt() const; |
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void set_dt(const Scalar& dt); |
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const typename Eigen::Matrix<Scalar, 3, 3>& get_gI() const; |
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void set_gI(const typename MathBase::Matrix3s& inertia_matrix); |
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const Scalar& get_min_fz_contact() const; |
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void set_min_fz_contact(const Scalar& min_fz); |
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const Scalar& get_max_fz_contact() const; |
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void set_max_fz_contact(const Scalar& max_fz_); |
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// Set parameter relative to the shoulder height cost |
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const Scalar& get_shoulder_hlim() const; |
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void set_shoulder_hlim(const Scalar& hlim); |
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const Scalar& get_shoulder_weight() const; |
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void set_shoulder_weight(const Scalar& weight); |
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const bool& get_relative_forces() const; |
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void set_relative_forces(const bool& rel_forces); |
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const bool& get_implicit_integration() const; |
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void set_implicit_integration(const bool& implicit); |
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// Update the model depending if the foot in contact with the ground |
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// or the new lever arms |
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void update_model(const Eigen::Ref<const typename MathBase::MatrixXs>& l_feet, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& xref, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& S); |
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// Get A & B matrix |
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const typename Eigen::Matrix<Scalar, 12, 12>& get_A() const; |
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const typename Eigen::Matrix<Scalar, 12, 12>& get_B() const; |
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protected: |
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using Base::has_control_limits_; //!< Indicates whether any of the control |
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//!< limits |
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using Base::nr_; //!< Dimension of the cost residual |
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using Base::nu_; //!< Control dimension |
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using Base::state_; //!< Model of the state |
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using Base::u_lb_; //!< Lower control limits |
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using Base::u_ub_; //!< Upper control limits |
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using Base::unone_; //!< Neutral state |
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private: |
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Scalar dt_; |
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Scalar mass; |
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Scalar mu; |
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Scalar friction_weight_; |
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Scalar min_fz_in_contact; |
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Scalar max_fz; |
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bool relative_forces; |
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bool implicit_integration; |
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typename Eigen::Matrix<Scalar, 12, 1> uref_; |
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typename Eigen::Matrix<Scalar, 12, 1> force_weights_; |
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typename Eigen::Matrix<Scalar, 12, 1> state_weights_; |
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typename Eigen::Matrix<Scalar, 12, 12> A; |
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typename Eigen::Matrix<Scalar, 12, 12> B; |
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typename Eigen::Matrix<Scalar, 12, 1> g; |
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typename Eigen::Matrix<Scalar, 3, 3> I_inv; |
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typename MathBase::Matrix3s R_tmp; |
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typename Eigen::Matrix<Scalar, 3, 3> gI; |
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typename Eigen::Matrix<Scalar, 3, 4> lever_arms; |
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typename MathBase::Vector3s lever_tmp; |
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typename MathBase::MatrixXs xref_; |
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typename Eigen::Matrix<Scalar, 24, 1> ub; |
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typename Eigen::Matrix<Scalar, 24, 1> Fa_x_u; |
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typename Eigen::Matrix<Scalar, 24, 1> rub_max_; |
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typename Eigen::Matrix<Scalar, 24, 24> Arr; |
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typename Eigen::Matrix<Scalar, 6, 1> r; |
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// Cost relative to the shoulder height |
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typename Eigen::Matrix<Scalar, 2, 4> pshoulder_0; |
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typename Eigen::Matrix<Scalar, 3, 4> psh; |
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typename Eigen::Matrix<Scalar, 4, 1> sh_ub_max_; |
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typename Eigen::Matrix<Scalar, 4, 1> gait; |
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typename Eigen::Matrix<Scalar, 3, 1> offset_com; |
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Scalar sh_weight; |
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Scalar sh_hlim; |
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}; |
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template <typename _Scalar> |
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struct ActionDataQuadrupedTpl |
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: public crocoddyl::ActionDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef crocoddyl::MathBaseTpl<Scalar> MathBase; |
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typedef crocoddyl::ActionDataAbstractTpl<Scalar> Base; |
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using Base::cost; |
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using Base::Fu; |
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using Base::Fx; |
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using Base::Lu; |
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using Base::Luu; |
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using Base::Lx; |
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using Base::Lxu; |
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using Base::Lxx; |
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using Base::r; |
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using Base::xnext; |
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template <template <typename Scalar> class Model> |
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explicit ActionDataQuadrupedTpl(Model<Scalar>* const model) |
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: crocoddyl::ActionDataAbstractTpl<Scalar>(model) {} |
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}; |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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typedef ActionModelQuadrupedTpl<double> ActionModelQuadruped; |
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typedef ActionDataQuadrupedTpl<double> ActionDataQuadruped; |
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typedef crocoddyl::ActionModelAbstractTpl<double> ActionModelAbstract; |
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typedef crocoddyl::ActionDataAbstractTpl<double> ActionDataAbstract; |
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typedef crocoddyl::StateAbstractTpl<double> StateAbstract; |
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typedef crocoddyl::ActionModelUnicycleTpl<double> ActionModelUnicycle; |
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typedef crocoddyl::ActionDataUnicycleTpl<double> ActionDataUnicycle; |
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} // namespace quadruped_walkgen |
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#include "quadruped.hxx" |
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#endif |
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