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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --- SOT --- */ |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-feature.hh> |
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#include <sot/core/feature-joint-limits.hh> |
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using namespace std; |
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#include <../src/feature/feature-joint-limits-command.h> |
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#include <sot/core/factory.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeatureJointLimits, "FeatureJointLimits"); |
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const double FeatureJointLimits::THRESHOLD_DEFAULT = .9; |
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FeatureJointLimits::FeatureJointLimits(const string &fName) |
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: FeatureAbstract(fName), |
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threshold(THRESHOLD_DEFAULT) |
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, |
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jointSIN(NULL, |
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"sotFeatureJointLimits(" + name + ")::input(vector)::joint"), |
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upperJlSIN(NULL, |
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"sotFeatureJointLimits(" + name + ")::input(vector)::upperJl"), |
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lowerJlSIN(NULL, |
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"sotFeatureJointLimits(" + name + ")::input(vector)::lowerJl"), |
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widthJlSINTERN( |
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boost::bind(&FeatureJointLimits::computeWidthJl, this, _1, _2), |
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upperJlSIN << lowerJlSIN, |
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"sotFeatureJointLimits(" + name + ")::input(vector)::widthJl") { |
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errorSOUT.addDependency(jointSIN); |
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errorSOUT.addDependency(upperJlSIN); |
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errorSOUT.addDependency(lowerJlSIN); |
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signalRegistration(jointSIN << upperJlSIN << lowerJlSIN << widthJlSINTERN); |
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// Commands |
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// |
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std::string docstring; |
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// Actuate |
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docstring = |
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" \n" |
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" Actuate\n" |
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" \n"; |
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addCommand("actuate", |
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new command::featureJointLimits::Actuate(*this, docstring)); |
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} |
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/* --------------------------------------------------------------------- */ |
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void FeatureJointLimits::addDependenciesFromReference(void) {} |
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void FeatureJointLimits::removeDependenciesFromReference(void) {} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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unsigned int &FeatureJointLimits::getDimension(unsigned int &dim, int time) { |
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sotDEBUG(25) << "# In {" << endl; |
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const Flags &fl = selectionSIN.access(time); |
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const Matrix::Index NBJL = upperJlSIN.access(time).size(); |
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dim = 0; |
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for (Matrix::Index i = 0; i < NBJL; ++i) |
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if (fl(static_cast<int>(i))) dim++; |
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sotDEBUG(25) << "# Out }" << endl; |
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return dim; |
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} |
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Vector &FeatureJointLimits::computeWidthJl(Vector &res, const int &time) { |
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sotDEBUGIN(15); |
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const Vector UJL = upperJlSIN.access(time); |
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const Vector LJL = lowerJlSIN.access(time); |
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const Vector::Index SIZE = UJL.size(); |
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res.resize(SIZE); |
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for (Vector::Index i = 0; i < SIZE; ++i) { |
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res(i) = UJL(i) - LJL(i); |
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} |
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sotDEBUGOUT(15); |
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return res; |
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} |
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/** Compute the interaction matrix from a subset of |
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* the possible features. |
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*/ |
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Matrix &FeatureJointLimits::computeJacobian(Matrix &J, int time) { |
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sotDEBUG(15) << "# In {" << endl; |
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const unsigned int SIZE = dimensionSOUT.access(time); |
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const Vector q = jointSIN.access(time); |
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const Flags &fl = selectionSIN(time); |
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// const unsigned int SIZE_FF=SIZE+freeFloatingSize; |
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const Vector::Index SIZE_TOTAL = q.size(); |
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const Vector WJL = widthJlSINTERN.access(time); |
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J.resize(SIZE, SIZE_TOTAL); |
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J.setZero(); |
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unsigned int idx = 0; |
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for (unsigned int i = 0; i < SIZE_TOTAL; ++i) { |
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if (fl(i)) { |
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if (fabs(WJL(i)) > 1e-3) |
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J(idx, i) = 1 / WJL(i); |
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else |
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J(idx, i) = 1.; |
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idx++; |
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} |
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} |
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// if( 0!=freeFloatingIndex ) |
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// for( unsigned int i=0;i<freeFloatingIndex;++i ) |
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// { |
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// if( fabs(WJL(i))>1e-3 ) J(i,i)=1/WJL(i); else J(i,i)=1.; |
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// } |
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// if( SIZE!=freeFloatingIndex ) |
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// for( unsigned int i=freeFloatingIndex;i<SIZE;++i ) |
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// { |
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// if( fabs(WJL(i))>1e-3 ) J(i,i+freeFloatingSIZE)=1/WJL(i); |
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// else J(i,i)=1.; |
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// } |
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sotDEBUG(15) << "# Out }" << endl; |
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return J; |
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} |
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/** Compute the error between two visual features from a subset |
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* a the possible features. |
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*/ |
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Vector &FeatureJointLimits::computeError(Vector &error, int time) { |
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sotDEBUGIN(15); |
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const Flags &fl = selectionSIN(time); |
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const Vector q = jointSIN.access(time); |
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const Vector UJL = upperJlSIN.access(time); |
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const Vector LJL = lowerJlSIN.access(time); |
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const Vector WJL = widthJlSINTERN.access(time); |
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const int SIZE = dimensionSOUT.access(time); |
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const Vector::Index SIZE_TOTAL = q.size(); |
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sotDEBUG(25) << "q = " << q << endl; |
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sotDEBUG(25) << "ljl = " << LJL << endl; |
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sotDEBUG(25) << "Wjl = " << WJL << endl; |
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sotDEBUG(25) << "dim = " << SIZE << endl; |
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assert(UJL.size() == SIZE_TOTAL); |
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assert(WJL.size() == SIZE_TOTAL); |
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assert(LJL.size() == SIZE_TOTAL); |
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assert(SIZE <= SIZE_TOTAL); |
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error.resize(SIZE); |
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unsigned int parcerr = 0; |
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for (int i = 0; i < SIZE_TOTAL; ++i) { |
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if (fl(i)) { |
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error(parcerr++) = (q(i) - LJL(i)) / WJL(i) * 2 - 1; |
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} |
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} |
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sotDEBUGOUT(15); |
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return error; |
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} |
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void FeatureJointLimits::display(std::ostream &os) const { |
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os << "JointLimits <" << name << "> ... TODO"; |
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} |
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