| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2022 INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#ifndef __pinocchio_algorithm_pgs_solver_hxx__ |
| 6 |
|
|
#define __pinocchio_algorithm_pgs_solver_hxx__ |
| 7 |
|
|
|
| 8 |
|
|
#include <limits> |
| 9 |
|
|
#include "pinocchio/algorithm/constraints/coulomb-friction-cone.hpp" |
| 10 |
|
|
|
| 11 |
|
|
namespace pinocchio |
| 12 |
|
|
{ |
| 13 |
|
|
template<typename _Scalar> |
| 14 |
|
|
template< |
| 15 |
|
|
typename MatrixLike, |
| 16 |
|
|
typename VectorLike, |
| 17 |
|
|
typename ConstraintAllocator, |
| 18 |
|
|
typename VectorLikeOut> |
| 19 |
|
✗ |
bool PGSContactSolverTpl<_Scalar>::solve( |
| 20 |
|
|
const MatrixLike & G, |
| 21 |
|
|
const Eigen::MatrixBase<VectorLike> & g, |
| 22 |
|
|
const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator> & cones, |
| 23 |
|
|
const Eigen::DenseBase<VectorLikeOut> & x_sol, |
| 24 |
|
|
const Scalar over_relax) |
| 25 |
|
|
|
| 26 |
|
|
{ |
| 27 |
|
|
typedef CoulombFrictionConeTpl<Scalar> CoulombFrictionCone; |
| 28 |
|
|
typedef Eigen::Matrix<Scalar, 2, 1> Vector2; |
| 29 |
|
|
typedef Eigen::Matrix<Scalar, 3, 1> Vector3; |
| 30 |
|
|
// typedef Eigen::Matrix<Scalar,6,1> Vector6; |
| 31 |
|
|
|
| 32 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 33 |
|
|
over_relax < Scalar(2) && over_relax > Scalar(0), "over_relax should lie in ]0,2[.") |
| 34 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE(g.size(), this->getProblemSize()); |
| 35 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE(G.rows(), this->getProblemSize()); |
| 36 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE(G.cols(), this->getProblemSize()); |
| 37 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE(x_sol.size(), this->getProblemSize()); |
| 38 |
|
|
|
| 39 |
|
✗ |
const size_t nc = cones.size(); // num constraints |
| 40 |
|
|
|
| 41 |
|
✗ |
int it = 0; |
| 42 |
|
|
PINOCCHIO_EIGEN_MALLOC_NOT_ALLOWED(); |
| 43 |
|
|
|
| 44 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
| 45 |
|
✗ |
timer.start(); |
| 46 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |
| 47 |
|
|
|
| 48 |
|
|
Scalar complementarity, proximal_metric, dual_feasibility; |
| 49 |
|
✗ |
bool abs_prec_reached = false, rel_prec_reached = false; |
| 50 |
|
✗ |
x = x_sol; |
| 51 |
|
✗ |
Scalar x_previous_norm_inf = x.template lpNorm<Eigen::Infinity>(); |
| 52 |
|
✗ |
for (; it < this->max_it; ++it) |
| 53 |
|
|
{ |
| 54 |
|
✗ |
x_previous = x; |
| 55 |
|
✗ |
complementarity = Scalar(0); |
| 56 |
|
✗ |
dual_feasibility = Scalar(0); |
| 57 |
|
✗ |
for (size_t cone_id = 0; cone_id < nc; ++cone_id) |
| 58 |
|
|
{ |
| 59 |
|
✗ |
Vector3 velocity; // tmp variable |
| 60 |
|
✗ |
const Eigen::DenseIndex row_id = 3 * cone_id; |
| 61 |
|
✗ |
const CoulombFrictionCone & cone = cones[cone_id]; |
| 62 |
|
|
|
| 63 |
|
✗ |
const auto G_block = G.template block<3, 3>(row_id, row_id, 3, 3); |
| 64 |
|
✗ |
auto x_segment = x.template segment<3>(row_id); |
| 65 |
|
|
|
| 66 |
|
✗ |
velocity.noalias() = G.template middleRows<3>(row_id) * x + g.template segment<3>(row_id); |
| 67 |
|
|
|
| 68 |
|
|
// Normal update |
| 69 |
|
✗ |
Scalar & fz = x_segment.coeffRef(2); |
| 70 |
|
✗ |
const Scalar fz_previous = fz; |
| 71 |
|
✗ |
fz -= Scalar(over_relax / G_block.coeff(2, 2)) * velocity[2]; |
| 72 |
|
✗ |
fz = math::max(Scalar(0), fz); |
| 73 |
|
|
|
| 74 |
|
|
// Account for the fz updated value |
| 75 |
|
✗ |
velocity += G_block.col(2) * (fz - fz_previous); |
| 76 |
|
|
|
| 77 |
|
|
// Tangential update |
| 78 |
|
✗ |
const Scalar min_D_tangent = math::min(G_block.coeff(0, 0), G_block.coeff(1, 1)); |
| 79 |
|
✗ |
auto f_tangent = x_segment.template head<2>(); |
| 80 |
|
✗ |
const Vector2 f_tangent_previous = f_tangent; |
| 81 |
|
|
|
| 82 |
|
✗ |
assert(min_D_tangent > 0 && "min_D_tangent is zero"); |
| 83 |
|
✗ |
f_tangent -= over_relax / min_D_tangent * velocity.template head<2>(); |
| 84 |
|
✗ |
const Scalar f_tangent_norm = f_tangent.norm(); |
| 85 |
|
|
|
| 86 |
|
✗ |
const Scalar mu_fz = cone.mu * fz; |
| 87 |
|
✗ |
if (f_tangent_norm > mu_fz) // Project in the circle of radius mu_fz |
| 88 |
|
✗ |
f_tangent *= mu_fz / f_tangent_norm; |
| 89 |
|
|
|
| 90 |
|
|
// Account for the f_tangent updated value |
| 91 |
|
✗ |
velocity.noalias() = G_block.template leftCols<2>() * (f_tangent - f_tangent_previous); |
| 92 |
|
|
|
| 93 |
|
|
// Compute problem feasibility |
| 94 |
|
✗ |
Scalar contact_complementarity = cone.computeContactComplementarity(velocity, x_segment); |
| 95 |
|
✗ |
assert( |
| 96 |
|
|
contact_complementarity >= Scalar(0) && "contact_complementarity should be positive"); |
| 97 |
|
✗ |
complementarity = math::max(complementarity, contact_complementarity); |
| 98 |
|
✗ |
velocity += cone.computeNormalCorrection(velocity); |
| 99 |
|
✗ |
const Vector3 velocity_proj = cone.dual().project(velocity) - velocity; |
| 100 |
|
✗ |
Scalar contact_dual_feasibility = velocity_proj.norm(); |
| 101 |
|
✗ |
dual_feasibility = math::max(dual_feasibility, contact_dual_feasibility); |
| 102 |
|
|
} |
| 103 |
|
|
|
| 104 |
|
|
// Checking stopping residual |
| 105 |
|
✗ |
if ( |
| 106 |
|
✗ |
check_expression_if_real<Scalar, false>(complementarity <= this->absolute_precision) |
| 107 |
|
✗ |
&& check_expression_if_real<Scalar, false>(dual_feasibility <= this->absolute_precision)) |
| 108 |
|
✗ |
abs_prec_reached = true; |
| 109 |
|
|
else |
| 110 |
|
✗ |
abs_prec_reached = false; |
| 111 |
|
|
|
| 112 |
|
✗ |
proximal_metric = (x - x_previous).template lpNorm<Eigen::Infinity>(); |
| 113 |
|
✗ |
const Scalar x_norm_inf = x.template lpNorm<Eigen::Infinity>(); |
| 114 |
|
✗ |
if (check_expression_if_real<Scalar, false>( |
| 115 |
|
|
proximal_metric |
| 116 |
|
✗ |
<= this->relative_precision * math::max(x_norm_inf, x_previous_norm_inf))) |
| 117 |
|
✗ |
rel_prec_reached = true; |
| 118 |
|
|
else |
| 119 |
|
✗ |
rel_prec_reached = false; |
| 120 |
|
|
|
| 121 |
|
✗ |
if (abs_prec_reached || rel_prec_reached) |
| 122 |
|
|
break; |
| 123 |
|
|
|
| 124 |
|
✗ |
x_previous_norm_inf = x_norm_inf; |
| 125 |
|
|
} |
| 126 |
|
|
|
| 127 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
| 128 |
|
✗ |
timer.stop(); |
| 129 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |
| 130 |
|
|
|
| 131 |
|
|
PINOCCHIO_EIGEN_MALLOC_ALLOWED(); |
| 132 |
|
|
|
| 133 |
|
✗ |
this->absolute_residual = math::max(complementarity, dual_feasibility); |
| 134 |
|
✗ |
this->relative_residual = proximal_metric; |
| 135 |
|
✗ |
this->it = it; |
| 136 |
|
✗ |
x_sol.const_cast_derived() = x; |
| 137 |
|
|
|
| 138 |
|
✗ |
if (abs_prec_reached || rel_prec_reached) |
| 139 |
|
✗ |
return true; |
| 140 |
|
|
|
| 141 |
|
✗ |
return false; |
| 142 |
|
|
} |
| 143 |
|
|
} // namespace pinocchio |
| 144 |
|
|
|
| 145 |
|
|
#endif // ifndef __pinocchio_algorithm_pgs_solver_hxx__ |
| 146 |
|
|
|