| Directory: | ./ |
|---|---|
| File: | src/task/gain-adaptive.cpp |
| Date: | 2024-08-13 12:13:25 |
| Exec | Total | Coverage | |
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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 |