Directory: | ./ |
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File: | src/task/gain-adaptive.cpp |
Date: | 2024-08-13 12:13:25 |
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Lines: | 36 | 54 | 66.7% |
Branches: | 40 | 114 | 35.1% |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | /* SOT */ | ||
11 | #include <sot/core/gain-adaptive.hh> | ||
12 | |||
13 | /* --------------------------------------------------------------------- */ | ||
14 | /* --------------------------------------------------------------------- */ | ||
15 | /* --------------------------------------------------------------------- */ | ||
16 | #include <dynamic-graph/command-bind.h> | ||
17 | |||
18 | #include <sot/core/debug.hh> | ||
19 | #include <sot/core/exception-signal.hh> | ||
20 | #include <sot/core/factory.hh> | ||
21 | |||
22 | using namespace dynamicgraph::sot; | ||
23 | using namespace dynamicgraph; | ||
24 | |||
25 | ✗ | DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(GainAdaptive, "GainAdaptive"); | |
26 | |||
27 | const double GainAdaptive::ZERO_DEFAULT = .1; | ||
28 | const double GainAdaptive::INFTY_DEFAULT = .1; | ||
29 | const double GainAdaptive::TAN_DEFAULT = 1; | ||
30 | |||
31 | /* --------------------------------------------------------------------- */ | ||
32 | /* --------------------------------------------------------------------- */ | ||
33 | /* --------------------------------------------------------------------- */ | ||
34 | |||
35 | #define __SOT_GAIN_ADAPTATIVE_INIT \ | ||
36 | Entity(name), coeff_a(0), coeff_b(0), coeff_c(0), \ | ||
37 | errorSIN(NULL, "sotGainAdaptive(" + name + ")::input(vector)::error"), \ | ||
38 | gainSOUT(boost::bind(&GainAdaptive::computeGain, this, _1, _2), \ | ||
39 | errorSIN, \ | ||
40 | "sotGainAdaptive(" + name + ")::output(double)::gain") | ||
41 | |||
42 | 3 | void GainAdaptive::addCommands() { | |
43 | using namespace ::dynamicgraph::command; | ||
44 | 3 | std::string docstring; | |
45 | // Command SetConstant | ||
46 | docstring = | ||
47 | " \n" | ||
48 | " setConstant\n" | ||
49 | " Input:\n" | ||
50 | " floating point value: value at 0. Other values are set to" | ||
51 | "default.\n" | ||
52 |
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3 | " \n"; |
53 |
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3 | addCommand("setConstant", |
54 |
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3 | makeCommandVoid1(*this, &GainAdaptive::init, docstring)); |
55 | |||
56 | // Command Set | ||
57 | docstring = | ||
58 | " \n" | ||
59 | " set\n" | ||
60 | " Input:\n" | ||
61 | " floating point value: value at 0,\n" | ||
62 | " floating point value: value at infinity,\n" | ||
63 | " floating point value: value at slope,\n" | ||
64 |
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3 | " \n"; |
65 |
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3 | addCommand("set", makeCommandVoid3(*this, &GainAdaptive::init, docstring)); |
66 | docstring = | ||
67 | " \n" | ||
68 | " set from value at 0 and infinity, with a passing point\n" | ||
69 | " Input:\n" | ||
70 | " floating point value: value at 0,\n" | ||
71 | " floating point value: value at infinity,\n" | ||
72 | " floating point value: reference point,\n" | ||
73 | " floating point value: percentage at ref point.\n" | ||
74 |
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3 | " \n"; |
75 |
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3 | addCommand( |
76 | "setByPoint", | ||
77 |
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3 | makeCommandVoid4(*this, &GainAdaptive::initFromPassingPoint, docstring)); |
78 | 3 | } | |
79 | |||
80 | 2 | GainAdaptive::GainAdaptive(const std::string &name) | |
81 |
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2 | : __SOT_GAIN_ADAPTATIVE_INIT { |
82 | sotDEBUG(15) << "New gain <" << name << ">" << std::endl; | ||
83 |
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2 | init(); |
84 |
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2 | Entity::signalRegistration(gainSOUT << errorSIN); |
85 |
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2 | addCommands(); |
86 | 2 | } | |
87 | |||
88 | ✗ | GainAdaptive::GainAdaptive(const std::string &name, const double &lambda) | |
89 | ✗ | : __SOT_GAIN_ADAPTATIVE_INIT { | |
90 | ✗ | init(lambda); | |
91 | ✗ | Entity::signalRegistration(gainSOUT); | |
92 | ✗ | addCommands(); | |
93 | } | ||
94 | |||
95 | 1 | GainAdaptive::GainAdaptive(const std::string &name, const double &valueAt0, | |
96 | 1 | const double &valueAtInfty, const double &tanAt0) | |
97 |
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1 | : __SOT_GAIN_ADAPTATIVE_INIT { |
98 |
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1 | init(valueAt0, valueAtInfty, tanAt0); |
99 |
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1 | Entity::signalRegistration(gainSOUT); |
100 |
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1 | addCommands(); |
101 | 1 | } | |
102 | |||
103 | 3 | void GainAdaptive::init(const double &valueAt0, const double &valueAtInfty, | |
104 | const double &tanAt0) { | ||
105 | 3 | coeff_a = valueAt0 - valueAtInfty; | |
106 |
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3 | if (0 == coeff_a) { |
107 | 2 | coeff_b = 0; | |
108 | } else { | ||
109 | 1 | coeff_b = tanAt0 / coeff_a; | |
110 | } | ||
111 | 3 | coeff_c = valueAtInfty; | |
112 | |||
113 | 3 | return; | |
114 | } | ||
115 | |||
116 | /* | ||
117 | * The idea is to fix value at 0 and infinity. Now, we are looking for a smart | ||
118 | * way to chose the slope at 0 or the coeff B (it is more or less the same). | ||
119 | * I can imagine to way of using a passing point: | ||
120 | * - first, imposing a value gref at position xref: g(xref)=gref. | ||
121 | * In that case, B=-1/xref*log((gref-C)/A): | ||
122 | * gnuplot> A=1; C=.1; xref=.1; gref=.4; B=1/xref*log((gref-C)/A) | ||
123 | * gnuplot> plot [0:(A+C)/B*10][C-.1*(A-C):A+C+.1*(A-C)] A*exp(-B*x)+C, | ||
124 | * A+C-B*x | ||
125 | * - second solution: imposing to reach a percentage of raise at a given point. | ||
126 | * It is more or less the same as before, but with gref := C+p*A, for a given p. | ||
127 | * In that case, B=-1/xref*log(p) gnuplot> A=1; C=.1; xref=.1; p=.1; | ||
128 | * B=1/xref*log(p) gnuplot> plot [0:(A+C)/B*10][C-.1*(A-C):A+C+.1*(A-C)] | ||
129 | * A*exp(-B*x)+C, A+C-B*x | ||
130 | * | ||
131 | * The second solution is tried in the following. | ||
132 | */ | ||
133 | ✗ | void GainAdaptive::initFromPassingPoint(const double &valueAt0, | |
134 | const double &valueAtInfty, | ||
135 | const double &xref, | ||
136 | const double &p) // gref ) | ||
137 | { | ||
138 | ✗ | coeff_c = valueAtInfty; | |
139 | ✗ | coeff_a = valueAt0 - valueAtInfty; | |
140 | ✗ | if (0 == coeff_a) { | |
141 | ✗ | coeff_b = 0; | |
142 | } else { | ||
143 | // coeff_b = -1/xref*log( (gref-coeff_c)/coeff_a ); | ||
144 | ✗ | coeff_b = -1 / xref * log(p); | |
145 | } | ||
146 | } | ||
147 | |||
148 | ✗ | void GainAdaptive::forceConstant(void) { coeff_a = 0; } | |
149 | |||
150 | /* --------------------------------------------------------------------- */ | ||
151 | /* --------------------------------------------------------------------- */ | ||
152 | /* --------------------------------------------------------------------- */ | ||
153 | |||
154 | ✗ | void GainAdaptive::display(std::ostream &os) const { | |
155 | ✗ | os << "Gain Adaptative " << getName(); | |
156 | try { | ||
157 | ✗ | os << " = " << double(gainSOUT.accessCopy()); | |
158 | ✗ | } catch (ExceptionSignal e) { | |
159 | } | ||
160 | ✗ | os << " (" << coeff_a << ";" << coeff_b << ";" << coeff_c << ") "; | |
161 | } | ||
162 | |||
163 | /* --------------------------------------------------------------------- */ | ||
164 | /* --------------------------------------------------------------------- */ | ||
165 | /* --------------------------------------------------------------------- */ | ||
166 | 1 | double &GainAdaptive::computeGain(double &res, int t) { | |
167 | sotDEBUGIN(15); | ||
168 | 1 | const dynamicgraph::Vector &error = errorSIN(t); | |
169 | 1 | const double norm = error.norm(); | |
170 | 1 | res = coeff_a * exp(-coeff_b * norm) + coeff_c; | |
171 | |||
172 | sotDEBUGOUT(15); | ||
173 | 1 | return res; | |
174 | } | ||
175 |