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#ifndef __quadruped_walkgen_quadruped_step_time_hpp__ |
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#define __quadruped_walkgen_quadruped_step_time_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 ActionModelQuadrupedStepTimeTpl |
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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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ActionModelQuadrupedStepTimeTpl(); |
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~ActionModelQuadrupedStepTimeTpl(); |
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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_state_weights() const; |
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void set_state_weights(const typename MathBase::VectorXs& weights); |
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const typename Eigen::Matrix<Scalar, 4, 1>& get_step_weights() const; |
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void set_step_weights(const typename MathBase::VectorXs& weights); |
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const typename Eigen::Matrix<Scalar, 8, 1>& get_heuristic_weights() const; |
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void set_heuristic_weights(const typename MathBase::VectorXs& weights); |
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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( |
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const Eigen::Ref<const typename MathBase::MatrixXs>& l_feet, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& velocity, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& acceleration, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& xref, |
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const Eigen::Ref<const typename MathBase::VectorXs>& S); |
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const bool& get_symmetry_term() const; |
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void set_symmetry_term(const bool& sym_term); |
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const bool& get_centrifugal_term() const; |
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void set_centrifugal_term(const bool& cent_term); |
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const Scalar& get_T_gait() const; |
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void set_T_gait(const Scalar& T_gait_); |
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const Scalar& get_nb_nodes() const; |
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void set_nb_nodes(const Scalar& nodes_); |
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const Scalar& get_vlim() const; |
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void set_vlim(const Scalar& vlim_); |
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const Scalar& get_speed_weight() const; |
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void set_speed_weight(const Scalar& weight_); |
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const bool& get_first_step() const; |
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void set_first_step(const bool& first); |
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// get cost |
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const typename Eigen::Matrix<Scalar, 7, 1>& get_cost() 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 T_gait; |
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Scalar speed_weight; |
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Scalar nb_nodes; |
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Scalar vlim; |
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Scalar beta_lim; |
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int nb_alpha_; |
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bool centrifugal_term; |
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bool symmetry_term; |
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// indicates whether it t the 1st step, otherwise the cost function is much |
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// simpler (acc, speed = 0) |
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bool first_step; |
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typename Eigen::Matrix<Scalar, 12, 1> state_weights_; |
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typename Eigen::Matrix<Scalar, 4, 1> step_weights_; |
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typename Eigen::Matrix<Scalar, 8, 1> heuristicWeights; |
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typename MathBase::Matrix3s R_tmp; |
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// typename Eigen::Array<Scalar, 3, 1 > alpha ; |
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// typename Eigen::Array<Scalar, 3, 4 > alpha2 ; |
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// typename Eigen::Array<Scalar, 3, 3 > b_coeff ; |
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typename MathBase::ArrayXs alpha; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> alpha2; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff_x0; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff_y0; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff_x1; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff_y1; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff_x2; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> b_coeff_y2; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rub_max_first_x; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rub_max_first_y; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rub_max_first_2; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> |
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rub_max_first_bool; |
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// typename Eigen::Array<Scalar, 3, 12 > b_coeff2 ; |
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typename Eigen::Matrix<Scalar, 3, 4> lfeet; |
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// typename Eigen::Array<Scalar, 3, 4 > rub_max_first ; |
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// typename Eigen::Array<Scalar, 3, 2 > rub_max_first_2 ; |
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// typename Eigen::Array<Scalar, 3, 2 > rub_max_bool_first ; |
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typename Eigen::Matrix<Scalar, 8, 8> B; |
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typename MathBase::MatrixXs xref_; |
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typename MathBase::VectorXs S_; // Containing the flying feet |
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typename Eigen::Matrix<Scalar, 8, 1> pheuristic_; |
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// Compute heuristic inside update Model |
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// typename Eigen::Matrix<Scalar, 2 , 4 > pshoulder_0; |
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// typename Eigen::Matrix<Scalar, 2 , 4 > pshoulder_tmp; |
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// typename Eigen::Matrix<Scalar, 3 , 1 > pcentrifugal_tmp; |
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// typename Eigen::Matrix<Scalar, 3 , 1 > pcentrifugal_tmp_1; |
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// typename Eigen::Matrix<Scalar, 3 , 1 > pcentrifugal_tmp_2; |
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typename Eigen::Matrix<Scalar, 4, 1> rub_max_; |
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typename Eigen::Matrix<Scalar, 4, 1> rub_max_bool; |
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// Log cost |
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bool log_cost; |
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typename Eigen::Matrix<Scalar, 7, 1> cost_; |
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}; |
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template <typename _Scalar> |
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struct ActionDataQuadrupedStepTimeTpl |
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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 ActionDataQuadrupedStepTimeTpl(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 ActionModelQuadrupedStepTimeTpl<double> ActionModelQuadrupedStepTime; |
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typedef ActionDataQuadrupedStepTimeTpl<double> ActionDataQuadrupedStepTime; |
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} // namespace quadruped_walkgen |
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#include "quadruped_step_time.hxx" |
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#endif |
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