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#ifndef __quadruped_walkgen_quadruped_augmented_time_hxx__ |
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#define __quadruped_walkgen_quadruped_augmented_time_hxx__ |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace quadruped_walkgen { |
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template <typename Scalar> |
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ActionModelQuadrupedAugmentedTimeTpl< |
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Scalar>::ActionModelQuadrupedAugmentedTimeTpl() |
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: crocoddyl::ActionModelAbstractTpl<Scalar>( |
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boost::make_shared<crocoddyl::StateVectorTpl<Scalar> >(21), 12, 33) { |
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// Model parameters |
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mu = Scalar(1); |
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mass = Scalar(2.50000279); |
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min_fz_in_contact = Scalar(0.0); |
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max_fz = Scalar(25); |
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// Relative forces to compute the norm mof the command |
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relative_forces = false; |
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uref_.setZero(); |
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// Matrix model initialization |
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g.setZero(); |
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gI.setZero(); |
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gI.diagonal() << Scalar(0.00578574), Scalar(0.01938108), Scalar(0.02476124); |
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A.setIdentity(); |
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B.setZero(); |
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lever_arms.setZero(); |
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R.setZero(); |
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// Weight vectors initialization |
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force_weights_.setConstant(Scalar(0.2)); |
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state_weights_ << Scalar(1.), Scalar(1.), Scalar(150.), Scalar(35.), |
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Scalar(30.), Scalar(8.), Scalar(20.), Scalar(20.), Scalar(15.), |
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Scalar(4.), Scalar(4.), Scalar(8.); |
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friction_weight_ = Scalar(10); |
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heuristicWeights.setConstant(Scalar(1)); |
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last_position_weights_.setConstant(Scalar(1)); |
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pshoulder_ << Scalar(0.1946), Scalar(0.15005), Scalar(0.1946), |
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Scalar(-0.15005), Scalar(-0.1946), Scalar(0.15005), Scalar(-0.1946), |
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Scalar(-0.15005); |
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pheuristic_.setZero(); |
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pshoulder_0 << Scalar(0.1946), Scalar(0.1946), Scalar(-0.1946), |
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Scalar(-0.1946), Scalar(0.15005), Scalar(-0.15005), Scalar(0.15005), |
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Scalar(-0.15005); |
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pshoulder_tmp.setZero(); |
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pcentrifugal_tmp_1.setZero(); |
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pcentrifugal_tmp_2.setZero(); |
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pcentrifugal_tmp.setZero(); |
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// UpperBound vector |
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ub.setZero(); |
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for (int i = 0; i < 4; i = i + 1) { |
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ub(6 * i + 5) = max_fz; |
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} |
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// Temporary vector used |
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Fa_x_u.setZero(); |
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rub_max_.setZero(); |
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Arr.setZero(); |
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r.setZero(); |
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lever_tmp.setZero(); |
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R_tmp.setZero(); |
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gait.setZero(); |
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base_vector_x << Scalar(1.), Scalar(0.), Scalar(0.); |
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base_vector_y << Scalar(0.), Scalar(1.), Scalar(0.); |
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base_vector_z << Scalar(0.), Scalar(0.), Scalar(1.); |
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forces_3d.setZero(); |
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gait_double.setZero(); |
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// bool to add heuristic for foot position |
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centrifugal_term = true; |
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symmetry_term = true; |
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T_gait = Scalar(0.64); |
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// dt param |
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rub_max_dt_bool.setZero(); |
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rub_max_dt.setZero(); |
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dt_min_.setConstant(Scalar(0.005)); |
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dt_max_.setConstant(Scalar(0.1)); |
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dt_bound_weight = Scalar(0.); |
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// Log cost |
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cost_.setZero(); |
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log_cost = false; |
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// // Used for shoulder height weight |
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// pshoulder_0 << Scalar(0.1946) , Scalar(0.1946) , Scalar(-0.1946), |
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// Scalar(-0.1946) , |
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// Scalar(0.15005) , Scalar(-0.15005) , Scalar(0.15005) , |
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// Scalar(-0.15005) ; |
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sh_hlim = Scalar(0.225); |
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sh_weight = Scalar(10.); |
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sh_ub_max_.setZero(); |
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psh.setZero(); |
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} |
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template <typename Scalar> |
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ActionModelQuadrupedAugmentedTimeTpl< |
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Scalar>::~ActionModelQuadrupedAugmentedTimeTpl() {} |
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template <typename Scalar> |
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void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::calc( |
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const boost::shared_ptr<crocoddyl::ActionDataAbstractTpl<Scalar> >& 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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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty("Invalid argument: " |
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<< "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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ActionDataQuadrupedAugmentedTimeTpl<Scalar>* d = |
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static_cast<ActionDataQuadrupedAugmentedTimeTpl<Scalar>*>(data.get()); |
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A.topRightCorner(6, 6) << Eigen::Matrix<Scalar, 6, 6>::Identity() * |
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x.tail(1)[0]; |
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g[8] = Scalar(-9.81) * x.tail(1)[0]; |
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// Update B : |
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for (int i = 0; i < 4; i = i + 1) { |
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lever_tmp.setZero(); |
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if (gait(i, 0) != 0) { |
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lever_tmp.head(2) = x.block(12 + 2 * i, 0, 2, 1); |
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lever_tmp += -x.block(0, 0, 3, 1); |
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R_tmp << Scalar(0.0), -lever_tmp[2], lever_tmp[1], lever_tmp[2], |
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Scalar(0.0), -lever_tmp[0], -lever_tmp[1], lever_tmp[0], Scalar(0.0); |
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B.block(9, 3 * i, 3, 3) << x.tail(1)[0] * R * R_tmp; |
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B.block(6, 3 * i, 3, 3).diagonal() << x.tail(1)[0] / mass, |
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x.tail(1)[0] / mass, x.tail(1)[0] / mass; |
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// Compute pdistance of the shoulder wrt contact point |
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psh.block(0, i, 3, 1) << x(0) + pshoulder_0(0, i) - |
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pshoulder_0(1, i) * x(5) - x(12 + 2 * i), |
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x(1) + pshoulder_0(1, i) + pshoulder_0(0, i) * x(5) - |
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x(12 + 2 * i + 1), |
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x(2) + pshoulder_0(1, i) * x(3) - pshoulder_0(0, i) * x(4); |
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} else { |
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// Compute pdistance of the shoulder wrt contact point |
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psh.block(0, i, 3, 1).setZero(); |
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// Compute pdistance of the shoulder wrt contact point |
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// psh.block(0,i,3,1) << x(0) + pshoulder_0(0,i) - pshoulder_0(1,i)*x(5) - |
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// x(12+2*i), |
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// x(1) + pshoulder_0(1,i) + pshoulder_0(0,i)*x(5) - |
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// x(12+2*i+1), x(2) + pshoulder_0(1,i)*x(3) - |
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// pshoulder_0(0,i)*x(4); |
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} |
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}; |
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// Discrete dynamic : A*x + B*u + g |
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d->xnext.template head<12>() = |
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A.diagonal().cwiseProduct(x.block(0, 0, 12, 1)) + g; |
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d->xnext.template head<6>() = |
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d->xnext.template head<6>() + |
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A.topRightCorner(6, 6).diagonal().cwiseProduct(x.block(6, 0, 6, 1)); |
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d->xnext.template segment<6>(6) = |
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d->xnext.template segment<6>(6) + B.block(6, 0, 6, 12) * u; |
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d->xnext.template segment<8>(12) = x.segment(12, 8); |
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d->xnext.template tail<1>() = x.tail(1); |
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// Residual cost on the state and force norm |
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d->r.template head<12>() = state_weights_.cwiseProduct(x.head(12) - xref_); |
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d->r.template segment<8>(12) = |
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((heuristicWeights.cwiseProduct(x.segment(12, 8) - pheuristic_)).array() * |
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gait_double.array()) |
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.matrix(); |
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// d->r.template segment<1>(20) = 0 (dt) |
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d->r.template tail<12>() = force_weights_.cwiseProduct(u - uref_); |
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// Friction cone |
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for (int i = 0; i < 4; i = i + 1) { |
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Fa_x_u.segment(6 * i, 6) << u(3 * i) - mu * u(3 * i + 2), |
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-u(3 * i) - mu * u(3 * i + 2), u(3 * i + 1) - mu * u(3 * i + 2), |
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-u(3 * i + 1) - mu * u(3 * i + 2), -u(3 * i + 2), u(3 * i + 2); |
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} |
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rub_max_ = (Fa_x_u - ub).cwiseMax(Scalar(0.)); |
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rub_max_dt << dt_min_ - x.tail(1), x.tail(1) - dt_max_; |
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rub_max_dt_bool = |
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(rub_max_dt.array() >= Scalar(0.)).matrix().template cast<Scalar>(); |
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rub_max_dt = rub_max_dt.cwiseMax(Scalar(0.)); |
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// Shoulder height weight |
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sh_ub_max_ << psh.block(0, 0, 3, 1).squaredNorm() - sh_hlim * sh_hlim, |
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psh.block(0, 1, 3, 1).squaredNorm() - sh_hlim * sh_hlim, |
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psh.block(0, 2, 3, 1).squaredNorm() - sh_hlim * sh_hlim, |
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psh.block(0, 3, 3, 1).squaredNorm() - sh_hlim * sh_hlim; |
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sh_ub_max_ = sh_ub_max_.cwiseMax(Scalar(0.)); |
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// Cost computation |
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d->cost = |
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Scalar(0.5) * d->r.segment(12, 8).transpose() * d->r.segment(12, 8) + |
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friction_weight_ * Scalar(0.5) * rub_max_.squaredNorm() + |
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Scalar(0.5) * |
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((last_position_weights_.cwiseProduct(x.segment(12, 8) - pref_)) |
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.array() * |
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gait_double.array()) |
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.matrix() |
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.squaredNorm() + |
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dt_bound_weight * Scalar(0.5) * rub_max_dt.squaredNorm() + |
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x(20) * Scalar(0.5) * d->r.head(12).transpose() * d->r.head(12) + |
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x(20) * Scalar(0.5) * d->r.tail(12).transpose() * d->r.tail(12) + |
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sh_weight * Scalar(0.5) * sh_ub_max_.sum(); |
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if (log_cost) { |
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cost_[0] = x(20) * Scalar(0.5) * d->r.head(12).transpose() * |
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d->r.head(12); // state |
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cost_[1] = Scalar(0.5) * d->r.segment(12, 8).transpose() * |
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d->r.segment(12, 8); // heuristic |
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cost_[2] = x(20) * Scalar(0.5) * d->r.tail(12).transpose() * |
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d->r.tail(12); // Force norm |
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cost_[3] = dt_bound_weight * Scalar(0.5) * |
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rub_max_dt.squaredNorm(); // upper/lower bound limit |
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cost_[4] = Scalar(0.5) * |
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((last_position_weights_.cwiseProduct(x.segment(12, 8) - pref_)) |
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.array() * |
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gait_double.array()) |
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.matrix() |
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.squaredNorm(); // last position weight |
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cost_[5] = friction_weight_ * Scalar(0.5) * |
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rub_max_.squaredNorm(); // friction weight |
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} |
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} |
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template <typename Scalar> |
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✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::calcDiff( |
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const boost::shared_ptr<crocoddyl::ActionDataAbstractTpl<Scalar> >& 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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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty("Invalid argument: " |
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<< "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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ActionDataQuadrupedAugmentedTimeTpl<Scalar>* d = |
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✗ |
static_cast<ActionDataQuadrupedAugmentedTimeTpl<Scalar>*>(data.get()); |
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// Cost derivatives : Lx |
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✗ |
d->Lx.setZero(); |
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d->Lx.template head<12>() = |
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x(20) * |
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(state_weights_.array() * d->r.template head<12>().array()).matrix(); |
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d->Lx.template segment<8>(12) = |
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(heuristicWeights.array() * d->r.template segment<8>(12).array()) |
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.matrix() + |
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((last_position_weights_.cwiseProduct(x.segment(12, 8) - pref_)).array() * |
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gait_double.array() * last_position_weights_.array()) |
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.matrix(); |
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d->Lx.template tail<1>() << dt_bound_weight * |
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(-rub_max_dt[0] + rub_max_dt[1]); |
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|
| 263 |
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// New cost : c = 0.5||x-x_ref||^2*dt |
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d->Lx.template tail<1>() += |
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Scalar(0.5) * d->r.head(12).transpose() * d->r.head(12) + |
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Scalar(0.5) * d->r.tail(12).transpose() * d->r.tail(12); |
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// Cost derivative : Lu |
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✗ |
for (int i = 0; i < 4; i = i + 1) { |
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r = friction_weight_ * rub_max_.segment(6 * i, 6); |
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✗ |
d->Lu.block(i * 3, 0, 3, 1) << r(0) - r(1), r(2) - r(3), |
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✗ |
-mu * (r(0) + r(1) + r(2) + r(3)) - r(4) + r(5); |
| 273 |
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} |
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✗ |
d->Lu = |
| 275 |
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✗ |
d->Lu + |
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✗ |
x(20) * |
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(force_weights_.array() * d->r.template tail<12>().array()).matrix(); |
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| 279 |
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// Hessian : Lxx |
| 280 |
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✗ |
d->Lxx.setZero(); |
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✗ |
d->Lxx.diagonal().head(12) = |
| 282 |
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x(20) * (state_weights_.array() * state_weights_.array()).matrix(); |
| 283 |
|
✗ |
d->Lxx.diagonal().segment(12, 8) = |
| 284 |
|
✗ |
(gait_double.array() * heuristicWeights.array() * |
| 285 |
|
✗ |
heuristicWeights.array()) |
| 286 |
|
|
.matrix(); |
| 287 |
|
✗ |
d->Lxx.diagonal().segment(12, 8) += |
| 288 |
|
✗ |
(gait_double.array() * last_position_weights_.array() * |
| 289 |
|
✗ |
last_position_weights_.array()) |
| 290 |
|
|
.matrix(); |
| 291 |
|
|
|
| 292 |
|
✗ |
d->Lxx.diagonal().tail(1) << dt_bound_weight * rub_max_dt_bool[0] + |
| 293 |
|
✗ |
dt_bound_weight * rub_max_dt_bool[1]; |
| 294 |
|
|
|
| 295 |
|
|
// New cost : partial derivatives of 20 and state (0--11) |
| 296 |
|
✗ |
d->Lxx.col(20).head(12) = |
| 297 |
|
✗ |
(state_weights_.array() * d->r.template head<12>().array()).matrix(); |
| 298 |
|
✗ |
d->Lxx.row(20).head(12) = d->Lxx.col(20).head(12); |
| 299 |
|
|
|
| 300 |
|
✗ |
for (int j = 0; j < 4; j = j + 1) { |
| 301 |
|
✗ |
if (sh_ub_max_[j] > Scalar(0.)) { |
| 302 |
|
✗ |
d->Lx(0, 0) += sh_weight * psh(0, j); |
| 303 |
|
✗ |
d->Lx(1, 0) += sh_weight * psh(1, j); |
| 304 |
|
✗ |
d->Lx(2, 0) += sh_weight * psh(2, j); |
| 305 |
|
✗ |
d->Lx(3, 0) += sh_weight * pshoulder_0(1, j) * psh(2, j); |
| 306 |
|
✗ |
d->Lx(4, 0) += -sh_weight * pshoulder_0(0, j) * psh(2, j); |
| 307 |
|
✗ |
d->Lx(5, 0) += sh_weight * (-pshoulder_0(1, j) * psh(0, j) + |
| 308 |
|
✗ |
pshoulder_0(0, j) * psh(1, j)); |
| 309 |
|
|
|
| 310 |
|
✗ |
d->Lx(12 + 2 * j, 0) += -sh_weight * psh(0, j); |
| 311 |
|
✗ |
d->Lx(12 + 2 * j + 1, 0) += -sh_weight * psh(1, j); |
| 312 |
|
|
|
| 313 |
|
✗ |
d->Lxx(0, 0) += sh_weight; |
| 314 |
|
✗ |
d->Lxx(1, 1) += sh_weight; |
| 315 |
|
✗ |
d->Lxx(2, 2) += sh_weight; |
| 316 |
|
✗ |
d->Lxx(3, 3) += sh_weight * pshoulder_0(1, j) * pshoulder_0(1, j); |
| 317 |
|
✗ |
d->Lxx(3, 3) += sh_weight * pshoulder_0(0, j) * pshoulder_0(0, j); |
| 318 |
|
✗ |
d->Lxx(5, 5) += sh_weight * (pshoulder_0(1, j) * pshoulder_0(1, j) + |
| 319 |
|
✗ |
pshoulder_0(0, j) * pshoulder_0(0, j)); |
| 320 |
|
|
|
| 321 |
|
✗ |
d->Lxx(12 + 2 * j, 12 + 2 * j) += sh_weight; |
| 322 |
|
✗ |
d->Lxx(12 + 2 * j + 1, 12 + 2 * j + 1) += sh_weight; |
| 323 |
|
|
|
| 324 |
|
✗ |
d->Lxx(0, 5) += -sh_weight * pshoulder_0(1, j); |
| 325 |
|
✗ |
d->Lxx(5, 0) += -sh_weight * pshoulder_0(1, j); |
| 326 |
|
|
|
| 327 |
|
✗ |
d->Lxx(1, 5) += sh_weight * pshoulder_0(0, j); |
| 328 |
|
✗ |
d->Lxx(5, 1) += sh_weight * pshoulder_0(0, j); |
| 329 |
|
|
|
| 330 |
|
✗ |
d->Lxx(2, 3) += sh_weight * pshoulder_0(1, j); |
| 331 |
|
✗ |
d->Lxx(2, 4) += -sh_weight * pshoulder_0(0, j); |
| 332 |
|
✗ |
d->Lxx(3, 2) += sh_weight * pshoulder_0(1, j); |
| 333 |
|
✗ |
d->Lxx(4, 2) += -sh_weight * pshoulder_0(0, j); |
| 334 |
|
|
|
| 335 |
|
✗ |
d->Lxx(3, 4) += -sh_weight * pshoulder_0(1, j) * pshoulder_0(0, j); |
| 336 |
|
✗ |
d->Lxx(4, 3) += -sh_weight * pshoulder_0(1, j) * pshoulder_0(0, j); |
| 337 |
|
|
|
| 338 |
|
✗ |
d->Lxx(0, 12 + 2 * j) += -sh_weight; |
| 339 |
|
✗ |
d->Lxx(12 + 2 * j, 0) += -sh_weight; |
| 340 |
|
|
|
| 341 |
|
✗ |
d->Lxx(5, 12 + 2 * j) += sh_weight * pshoulder_0(1, j); |
| 342 |
|
✗ |
d->Lxx(12 + 2 * j, 5) += sh_weight * pshoulder_0(1, j); |
| 343 |
|
|
|
| 344 |
|
✗ |
d->Lxx(1, 12 + 2 * j + 1) += -sh_weight; |
| 345 |
|
✗ |
d->Lxx(12 + 2 * j + 1, 1) += -sh_weight; |
| 346 |
|
|
|
| 347 |
|
✗ |
d->Lxx(5, 12 + 2 * j + 1) += -sh_weight * pshoulder_0(0, j); |
| 348 |
|
✗ |
d->Lxx(12 + 2 * j + 1, 5) += -sh_weight * pshoulder_0(0, j); |
| 349 |
|
|
} |
| 350 |
|
|
} |
| 351 |
|
|
|
| 352 |
|
|
// Hessian : Luu |
| 353 |
|
|
// Matrix friction cone hessian (20x12) |
| 354 |
|
✗ |
Arr.diagonal() = |
| 355 |
|
✗ |
((Fa_x_u - ub).array() >= Scalar(0.)).matrix().template cast<Scalar>(); |
| 356 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 357 |
|
✗ |
r = friction_weight_ * Arr.diagonal().segment(6 * i, 6); |
| 358 |
|
✗ |
d->Luu.block(3 * i, 3 * i, 3, 3) << r(0) + r(1), 0.0, mu * (r(1) - r(0)), |
| 359 |
|
✗ |
0.0, r(2) + r(3), mu * (r(3) - r(2)), mu * (r(1) - r(0)), |
| 360 |
|
✗ |
mu * (r(3) - r(2)), mu * mu * (r(0) + r(1) + r(2) + r(3)) + r(4) + r(5); |
| 361 |
|
|
} |
| 362 |
|
✗ |
d->Luu.diagonal() = |
| 363 |
|
✗ |
d->Luu.diagonal() + |
| 364 |
|
✗ |
x(20) * (force_weights_.array() * force_weights_.array()).matrix(); |
| 365 |
|
|
|
| 366 |
|
✗ |
d->Lxu.row(20) = |
| 367 |
|
✗ |
(force_weights_.array() * d->r.template tail<12>().array()).matrix(); |
| 368 |
|
|
|
| 369 |
|
|
// Dynamic derivatives |
| 370 |
|
✗ |
d->Fx.setZero(); |
| 371 |
|
✗ |
d->Fx.block(0, 0, 12, 12) << A; |
| 372 |
|
✗ |
d->Fx.block(12, 12, 8, 8) << Eigen::Matrix<Scalar, 8, 8>::Identity(); |
| 373 |
|
✗ |
d->Fx.block(20, 20, 1, 1) << Scalar(1); |
| 374 |
|
✗ |
d->Fx.block(8, 20, 1, 1) << -Scalar(9.81); |
| 375 |
|
✗ |
d->Fx.block(0, 20, 8, 1) << x.segment(6, 6); |
| 376 |
|
|
|
| 377 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 378 |
|
✗ |
if (gait(i, 0) != 0) { |
| 379 |
|
✗ |
forces_3d = u.block(3 * i, 0, 3, 1); |
| 380 |
|
✗ |
d->Fx.block(9, 0, 3, 1) += |
| 381 |
|
✗ |
-x.tail(1)[0] * R * (base_vector_x.cross(forces_3d)); |
| 382 |
|
✗ |
d->Fx.block(9, 1, 3, 1) += |
| 383 |
|
✗ |
-x.tail(1)[0] * R * (base_vector_y.cross(forces_3d)); |
| 384 |
|
✗ |
d->Fx.block(9, 2, 3, 1) += |
| 385 |
|
✗ |
-x.tail(1)[0] * R * (base_vector_z.cross(forces_3d)); |
| 386 |
|
|
|
| 387 |
|
✗ |
d->Fx.block(9, 12 + 2 * i, 3, 1) += |
| 388 |
|
✗ |
x.tail(1)[0] * R * (base_vector_x.cross(forces_3d)); |
| 389 |
|
✗ |
d->Fx.block(9, 12 + 2 * i + 1, 3, 1) += |
| 390 |
|
✗ |
x.tail(1)[0] * R * (base_vector_y.cross(forces_3d)); |
| 391 |
|
|
|
| 392 |
|
✗ |
d->Fx.block(6, 20, 3, 1) += (1 / mass) * forces_3d; |
| 393 |
|
|
|
| 394 |
|
✗ |
lever_tmp.setZero(); |
| 395 |
|
✗ |
lever_tmp.head(2) = x.block(12 + 2 * i, 0, 2, 1); |
| 396 |
|
✗ |
lever_tmp += -x.block(0, 0, 3, 1); |
| 397 |
|
✗ |
R_tmp << Scalar(0.0), -lever_tmp[2], lever_tmp[1], lever_tmp[2], |
| 398 |
|
✗ |
Scalar(0.0), -lever_tmp[0], -lever_tmp[1], lever_tmp[0], Scalar(0.0); |
| 399 |
|
✗ |
d->Fx.block(9, 20, 3, 1) += R * R_tmp * forces_3d; |
| 400 |
|
|
} |
| 401 |
|
|
} |
| 402 |
|
|
// d->Fu << Eigen::Matrix<Scalar, 20, 12>::Zero() ; |
| 403 |
|
✗ |
d->Fu.block(0, 0, 12, 12) << B; |
| 404 |
|
|
} |
| 405 |
|
|
|
| 406 |
|
|
template <typename Scalar> |
| 407 |
|
|
boost::shared_ptr<crocoddyl::ActionDataAbstractTpl<Scalar> > |
| 408 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::createData() { |
| 409 |
|
✗ |
return boost::make_shared<ActionDataQuadrupedAugmentedTimeTpl<Scalar> >(this); |
| 410 |
|
|
} |
| 411 |
|
|
|
| 412 |
|
|
//////////////////////////////// |
| 413 |
|
|
// get & set parameters //////// |
| 414 |
|
|
//////////////////////////////// |
| 415 |
|
|
|
| 416 |
|
|
template <typename Scalar> |
| 417 |
|
|
const typename Eigen::Matrix<Scalar, 12, 1>& |
| 418 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_force_weights() const { |
| 419 |
|
✗ |
return force_weights_; |
| 420 |
|
|
} |
| 421 |
|
|
template <typename Scalar> |
| 422 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_force_weights( |
| 423 |
|
|
const typename MathBase::VectorXs& weights) { |
| 424 |
|
✗ |
if (static_cast<std::size_t>(weights.size()) != 12) { |
| 425 |
|
✗ |
throw_pretty("Invalid argument: " |
| 426 |
|
|
<< "Weights vector has wrong dimension (it should be 12)"); |
| 427 |
|
|
} |
| 428 |
|
✗ |
force_weights_ = weights; |
| 429 |
|
|
} |
| 430 |
|
|
|
| 431 |
|
|
template <typename Scalar> |
| 432 |
|
|
const typename Eigen::Matrix<Scalar, 12, 1>& |
| 433 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_state_weights() const { |
| 434 |
|
✗ |
return state_weights_; |
| 435 |
|
|
} |
| 436 |
|
|
template <typename Scalar> |
| 437 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_state_weights( |
| 438 |
|
|
const typename MathBase::VectorXs& weights) { |
| 439 |
|
✗ |
if (static_cast<std::size_t>(weights.size()) != 12) { |
| 440 |
|
✗ |
throw_pretty("Invalid argument: " |
| 441 |
|
|
<< "Weights vector has wrong dimension (it should be 12)"); |
| 442 |
|
|
} |
| 443 |
|
✗ |
state_weights_ = weights; |
| 444 |
|
|
} |
| 445 |
|
|
|
| 446 |
|
|
template <typename Scalar> |
| 447 |
|
|
const typename Eigen::Matrix<Scalar, 8, 1>& |
| 448 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_heuristic_weights() const { |
| 449 |
|
✗ |
return heuristicWeights; |
| 450 |
|
|
} |
| 451 |
|
|
template <typename Scalar> |
| 452 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_heuristic_weights( |
| 453 |
|
|
const typename MathBase::VectorXs& weights) { |
| 454 |
|
✗ |
if (static_cast<std::size_t>(weights.size()) != 8) { |
| 455 |
|
✗ |
throw_pretty("Invalid argument: " |
| 456 |
|
|
<< "Weights vector has wrong dimension (it should be 8)"); |
| 457 |
|
|
} |
| 458 |
|
✗ |
heuristicWeights = weights; |
| 459 |
|
|
} |
| 460 |
|
|
|
| 461 |
|
|
template <typename Scalar> |
| 462 |
|
|
const typename Eigen::Matrix<Scalar, 8, 1>& |
| 463 |
|
|
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_shoulder_position() const { |
| 464 |
|
|
return pshoulder_; |
| 465 |
|
|
} |
| 466 |
|
|
template <typename Scalar> |
| 467 |
|
|
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_shoulder_position( |
| 468 |
|
|
const typename MathBase::VectorXs& pos) { |
| 469 |
|
|
if (static_cast<std::size_t>(pos.size()) != 8) { |
| 470 |
|
|
throw_pretty("Invalid argument: " |
| 471 |
|
|
<< "Weights vector has wrong dimension (it should be 8)"); |
| 472 |
|
|
} |
| 473 |
|
|
pshoulder_ = pos; |
| 474 |
|
|
} |
| 475 |
|
|
|
| 476 |
|
|
template <typename Scalar> |
| 477 |
|
|
const typename Eigen::Matrix<Scalar, 8, 1>& |
| 478 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_stop_weights() const { |
| 479 |
|
✗ |
return last_position_weights_; |
| 480 |
|
|
} |
| 481 |
|
|
template <typename Scalar> |
| 482 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_stop_weights( |
| 483 |
|
|
const typename MathBase::VectorXs& weights) { |
| 484 |
|
✗ |
if (static_cast<std::size_t>(weights.size()) != 8) { |
| 485 |
|
✗ |
throw_pretty("Invalid argument: " |
| 486 |
|
|
<< "Weights vector has wrong dimension (it should be 8)"); |
| 487 |
|
|
} |
| 488 |
|
✗ |
last_position_weights_ = weights; |
| 489 |
|
|
} |
| 490 |
|
|
|
| 491 |
|
|
template <typename Scalar> |
| 492 |
|
|
const Scalar& |
| 493 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_friction_weight() const { |
| 494 |
|
✗ |
return friction_weight_; |
| 495 |
|
|
} |
| 496 |
|
|
template <typename Scalar> |
| 497 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_friction_weight( |
| 498 |
|
|
const Scalar& weight) { |
| 499 |
|
✗ |
friction_weight_ = weight; |
| 500 |
|
|
} |
| 501 |
|
|
|
| 502 |
|
|
template <typename Scalar> |
| 503 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_mu() const { |
| 504 |
|
✗ |
return mu; |
| 505 |
|
|
} |
| 506 |
|
|
template <typename Scalar> |
| 507 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_mu( |
| 508 |
|
|
const Scalar& mu_coeff) { |
| 509 |
|
✗ |
mu = mu_coeff; |
| 510 |
|
|
} |
| 511 |
|
|
|
| 512 |
|
|
template <typename Scalar> |
| 513 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_mass() const { |
| 514 |
|
✗ |
return mass; |
| 515 |
|
|
} |
| 516 |
|
|
template <typename Scalar> |
| 517 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_mass(const Scalar& m) { |
| 518 |
|
|
// The model need to be updated after this changed |
| 519 |
|
✗ |
mass = m; |
| 520 |
|
|
} |
| 521 |
|
|
|
| 522 |
|
|
template <typename Scalar> |
| 523 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_dt_min() const { |
| 524 |
|
✗ |
return dt_min_[0]; |
| 525 |
|
|
} |
| 526 |
|
|
template <typename Scalar> |
| 527 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_dt_min( |
| 528 |
|
|
const Scalar& dt) { |
| 529 |
|
|
// The model need to be updated after this changed |
| 530 |
|
✗ |
dt_min_[0] = dt; |
| 531 |
|
|
} |
| 532 |
|
|
|
| 533 |
|
|
template <typename Scalar> |
| 534 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_dt_max() const { |
| 535 |
|
✗ |
return dt_max_[0]; |
| 536 |
|
|
} |
| 537 |
|
|
template <typename Scalar> |
| 538 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_dt_max( |
| 539 |
|
|
const Scalar& dt) { |
| 540 |
|
|
// The model need to be updated after this changed |
| 541 |
|
✗ |
dt_max_[0] = dt; |
| 542 |
|
|
} |
| 543 |
|
|
|
| 544 |
|
|
template <typename Scalar> |
| 545 |
|
|
const typename Eigen::Matrix<Scalar, 3, 3>& |
| 546 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_gI() const { |
| 547 |
|
✗ |
return gI; |
| 548 |
|
|
} |
| 549 |
|
|
template <typename Scalar> |
| 550 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_gI( |
| 551 |
|
|
const typename MathBase::Matrix3s& inertia_matrix) { |
| 552 |
|
|
// The model need to be updated after this changed |
| 553 |
|
✗ |
if (static_cast<std::size_t>(inertia_matrix.size()) != 9) { |
| 554 |
|
✗ |
throw_pretty("Invalid argument: " |
| 555 |
|
|
<< "gI has wrong dimension : 3x3"); |
| 556 |
|
|
} |
| 557 |
|
✗ |
gI = inertia_matrix; |
| 558 |
|
|
} |
| 559 |
|
|
|
| 560 |
|
|
template <typename Scalar> |
| 561 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_min_fz_contact() |
| 562 |
|
|
const { |
| 563 |
|
|
// The model need to be updated after this changed |
| 564 |
|
✗ |
return min_fz_in_contact; |
| 565 |
|
|
} |
| 566 |
|
|
template <typename Scalar> |
| 567 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_min_fz_contact( |
| 568 |
|
|
const Scalar& min_fz) { |
| 569 |
|
|
// The model need to be updated after this changed |
| 570 |
|
✗ |
min_fz_in_contact = min_fz; |
| 571 |
|
|
} |
| 572 |
|
|
|
| 573 |
|
|
template <typename Scalar> |
| 574 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_max_fz_contact() |
| 575 |
|
|
const { |
| 576 |
|
|
// The model need to be updated after this changed |
| 577 |
|
✗ |
return max_fz; |
| 578 |
|
|
} |
| 579 |
|
|
template <typename Scalar> |
| 580 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_max_fz_contact( |
| 581 |
|
|
const Scalar& max_fz_) { |
| 582 |
|
|
// The model need to be updated after this changed |
| 583 |
|
✗ |
max_fz = max_fz_; |
| 584 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 585 |
|
✗ |
ub(6 * i + 5) = max_fz; |
| 586 |
|
|
} |
| 587 |
|
|
} |
| 588 |
|
|
|
| 589 |
|
|
template <typename Scalar> |
| 590 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_shoulder_hlim() |
| 591 |
|
|
const { |
| 592 |
|
✗ |
return sh_hlim; |
| 593 |
|
|
} |
| 594 |
|
|
template <typename Scalar> |
| 595 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_shoulder_hlim( |
| 596 |
|
|
const Scalar& hlim) { |
| 597 |
|
|
// The model need to be updated after this changed |
| 598 |
|
✗ |
sh_hlim = hlim; |
| 599 |
|
|
} |
| 600 |
|
|
|
| 601 |
|
|
template <typename Scalar> |
| 602 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl< |
| 603 |
|
|
Scalar>::get_shoulder_contact_weight() const { |
| 604 |
|
✗ |
return sh_weight; |
| 605 |
|
|
} |
| 606 |
|
|
template <typename Scalar> |
| 607 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_shoulder_contact_weight( |
| 608 |
|
|
const Scalar& weight) { |
| 609 |
|
|
// The model need to be updated after this changed |
| 610 |
|
✗ |
sh_weight = weight; |
| 611 |
|
|
} |
| 612 |
|
|
|
| 613 |
|
|
//////////////////////////////////////////// |
| 614 |
|
|
// Heuristic position |
| 615 |
|
|
//////////////////////////////////////////// |
| 616 |
|
|
template <typename Scalar> |
| 617 |
|
✗ |
const bool& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_symmetry_term() |
| 618 |
|
|
const { |
| 619 |
|
✗ |
return symmetry_term; |
| 620 |
|
|
} |
| 621 |
|
|
template <typename Scalar> |
| 622 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_symmetry_term( |
| 623 |
|
|
const bool& sym_term) { |
| 624 |
|
|
// The model need to be updated after this changed |
| 625 |
|
✗ |
symmetry_term = sym_term; |
| 626 |
|
|
} |
| 627 |
|
|
|
| 628 |
|
|
template <typename Scalar> |
| 629 |
|
✗ |
const bool& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_centrifugal_term() |
| 630 |
|
|
const { |
| 631 |
|
✗ |
return centrifugal_term; |
| 632 |
|
|
} |
| 633 |
|
|
template <typename Scalar> |
| 634 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_centrifugal_term( |
| 635 |
|
|
const bool& cent_term) { |
| 636 |
|
|
// The model need to be updated after this changed |
| 637 |
|
✗ |
centrifugal_term = cent_term; |
| 638 |
|
|
} |
| 639 |
|
|
|
| 640 |
|
|
template <typename Scalar> |
| 641 |
|
✗ |
const Scalar& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_T_gait() const { |
| 642 |
|
|
// The model need to be updated after this changed |
| 643 |
|
✗ |
return T_gait; |
| 644 |
|
|
} |
| 645 |
|
|
template <typename Scalar> |
| 646 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_T_gait( |
| 647 |
|
|
const Scalar& T_gait_) { |
| 648 |
|
|
// The model need to be updated after this changed |
| 649 |
|
✗ |
T_gait = T_gait_; |
| 650 |
|
|
} |
| 651 |
|
|
|
| 652 |
|
|
////////////////////////////////////// |
| 653 |
|
|
// lower/upper bound |
| 654 |
|
|
////////////////////////////////////// |
| 655 |
|
|
template <typename Scalar> |
| 656 |
|
|
const Scalar& |
| 657 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_dt_bound_weight() const { |
| 658 |
|
|
// The model need to be updated after this changed |
| 659 |
|
✗ |
return dt_bound_weight; |
| 660 |
|
|
} |
| 661 |
|
|
template <typename Scalar> |
| 662 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_dt_bound_weight( |
| 663 |
|
|
const Scalar& weight_) { |
| 664 |
|
|
// The model need to be updated after this changed |
| 665 |
|
✗ |
dt_bound_weight = weight_; |
| 666 |
|
|
} |
| 667 |
|
|
|
| 668 |
|
|
// Log cost |
| 669 |
|
|
template <typename Scalar> |
| 670 |
|
|
const typename Eigen::Matrix<Scalar, 7, 1>& |
| 671 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_cost() const { |
| 672 |
|
✗ |
return cost_; |
| 673 |
|
|
} |
| 674 |
|
|
|
| 675 |
|
|
/////////////////////////// |
| 676 |
|
|
//// get A & B matrix ///// |
| 677 |
|
|
/////////////////////////// |
| 678 |
|
|
template <typename Scalar> |
| 679 |
|
|
const typename Eigen::Matrix<Scalar, 12, 12>& |
| 680 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_A() const { |
| 681 |
|
✗ |
return A; |
| 682 |
|
|
} |
| 683 |
|
|
template <typename Scalar> |
| 684 |
|
|
const typename Eigen::Matrix<Scalar, 12, 12>& |
| 685 |
|
✗ |
ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_B() const { |
| 686 |
|
✗ |
return B; |
| 687 |
|
|
} |
| 688 |
|
|
|
| 689 |
|
|
// to modify the cost on the command : || fz - m*g/nb contact ||^2 |
| 690 |
|
|
// --> set to True |
| 691 |
|
|
template <typename Scalar> |
| 692 |
|
✗ |
const bool& ActionModelQuadrupedAugmentedTimeTpl<Scalar>::get_relative_forces() |
| 693 |
|
|
const { |
| 694 |
|
✗ |
return relative_forces; |
| 695 |
|
|
} |
| 696 |
|
|
template <typename Scalar> |
| 697 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::set_relative_forces( |
| 698 |
|
|
const bool& rel_forces) { |
| 699 |
|
✗ |
relative_forces = rel_forces; |
| 700 |
|
✗ |
uref_.setZero(); |
| 701 |
|
✗ |
if (relative_forces) { |
| 702 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 703 |
|
✗ |
if (gait[i] == 1) { |
| 704 |
|
✗ |
uref_[3 * i + 2] = (Scalar(9.81) * mass) / (gait.sum()); |
| 705 |
|
|
} |
| 706 |
|
|
} |
| 707 |
|
|
} |
| 708 |
|
|
} |
| 709 |
|
|
|
| 710 |
|
|
//////////////////////// |
| 711 |
|
|
// Update current model |
| 712 |
|
|
//////////////////////// |
| 713 |
|
|
|
| 714 |
|
|
template <typename Scalar> |
| 715 |
|
✗ |
void ActionModelQuadrupedAugmentedTimeTpl<Scalar>::update_model( |
| 716 |
|
|
const Eigen::Ref<const typename MathBase::MatrixXs>& l_feet, |
| 717 |
|
|
const Eigen::Ref<const typename MathBase::MatrixXs>& l_stop, |
| 718 |
|
|
const Eigen::Ref<const typename MathBase::MatrixXs>& xref, |
| 719 |
|
|
const Eigen::Ref<const typename MathBase::MatrixXs>& S) { |
| 720 |
|
✗ |
if (static_cast<std::size_t>(l_feet.size()) != 12) { |
| 721 |
|
✗ |
throw_pretty("Invalid argument: " |
| 722 |
|
|
<< "l_feet matrix has wrong dimension (it should be : 3x4)"); |
| 723 |
|
|
} |
| 724 |
|
✗ |
if (static_cast<std::size_t>(xref.size()) != 12) { |
| 725 |
|
✗ |
throw_pretty("Invalid argument: " |
| 726 |
|
|
<< "xref vector has wrong dimension (it should be 12 )"); |
| 727 |
|
|
} |
| 728 |
|
✗ |
if (static_cast<std::size_t>(S.size()) != 4) { |
| 729 |
|
✗ |
throw_pretty("Invalid argument: " |
| 730 |
|
|
<< "S vector has wrong dimension (it should be 4x1)"); |
| 731 |
|
|
} |
| 732 |
|
|
|
| 733 |
|
✗ |
xref_ = xref; |
| 734 |
|
✗ |
gait = S; |
| 735 |
|
✗ |
uref_.setZero(); |
| 736 |
|
✗ |
if (relative_forces) { |
| 737 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 738 |
|
✗ |
if (gait[i] == 1) { |
| 739 |
|
✗ |
uref_[3 * i + 2] = (Scalar(9.81) * mass) / (gait.sum()); |
| 740 |
|
|
} |
| 741 |
|
|
} |
| 742 |
|
|
} |
| 743 |
|
|
|
| 744 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 745 |
|
✗ |
gait_double(2 * i, 0) = gait(i, 0); |
| 746 |
|
✗ |
gait_double(2 * i + 1, 0) = gait(i, 0); |
| 747 |
|
|
|
| 748 |
|
✗ |
pref_.block(2 * i, 0, 2, 1) = l_stop.block(0, i, 2, 1); |
| 749 |
|
✗ |
pheuristic_.block(2 * i, 0, 2, 1) = l_feet.block(0, i, 2, 1); |
| 750 |
|
|
} |
| 751 |
|
|
|
| 752 |
|
✗ |
R_tmp << cos(xref(5, 0)), -sin(xref(5, 0)), Scalar(0), sin(xref(5, 0)), |
| 753 |
|
✗ |
cos(xref(5, 0)), Scalar(0), Scalar(0), Scalar(0), Scalar(1.0); |
| 754 |
|
|
|
| 755 |
|
|
// Centrifual term |
| 756 |
|
|
// pcentrifugal_tmp_1 = xref.block(6,0,3,1) ; |
| 757 |
|
|
// pcentrifugal_tmp_2 = xref.block(9,0,3,1) ; |
| 758 |
|
|
// pcentrifugal_tmp = 0.5*std::sqrt(xref(2,0)/9.81) * |
| 759 |
|
|
// pcentrifugal_tmp_1.cross(pcentrifugal_tmp_2) ; |
| 760 |
|
|
|
| 761 |
|
|
// for (int i=0; i<4; i=i+1){ |
| 762 |
|
|
// pshoulder_tmp.block(0,i,2,1) = |
| 763 |
|
|
// R_tmp.block(0,0,2,2)*(pshoulder_0.block(0,i,2,1) + symmetry_term * |
| 764 |
|
|
// 0.25*T_gait*xref.block(6,0,2,1) + centrifugal_term * |
| 765 |
|
|
// pcentrifugal_tmp.block(0,0,2,1) ); |
| 766 |
|
|
// } |
| 767 |
|
|
|
| 768 |
|
✗ |
R = (R_tmp * gI).inverse(); // I_inv |
| 769 |
|
|
|
| 770 |
|
✗ |
for (int i = 0; i < 4; i = i + 1) { |
| 771 |
|
|
// pshoulder_[2*i] = pshoulder_tmp(0,i) + xref(0,0) ; |
| 772 |
|
|
// pshoulder_[2*i+1] = pshoulder_tmp(1,i) + xref(1,0) ; |
| 773 |
|
|
|
| 774 |
|
✗ |
if (S(i, 0) != 0) { |
| 775 |
|
|
// set limit for normal force, (foot in contact with the ground) |
| 776 |
|
✗ |
ub(6 * i + 4) = -min_fz_in_contact; |
| 777 |
|
|
} else { |
| 778 |
|
|
// set limit for normal force at 0.0 |
| 779 |
|
✗ |
ub(6 * i + 4) = Scalar(0.0); |
| 780 |
|
✗ |
B.block(6, 3 * i, 3, 3).setZero(); |
| 781 |
|
✗ |
B.block(9, 3 * i, 3, 3).setZero(); |
| 782 |
|
|
}; |
| 783 |
|
|
}; |
| 784 |
|
|
} |
| 785 |
|
|
} // namespace quadruped_walkgen |
| 786 |
|
|
|
| 787 |
|
|
#endif |
| 788 |
|
|
|