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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 <dynamic-graph/linear-algebra.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/factory.hh> |
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#include <sot/core/task-conti.hh> |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TaskConti, "TaskConti"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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TaskConti::TaskConti(const std::string &n) |
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: Task(n), |
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timeRef(TIME_REF_UNSIGNIFICANT), |
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mu(0), |
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controlPrevSIN(NULL, "sotTaskConti(" + n + ")::input(double)::q0") { |
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taskSOUT.setFunction( |
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boost::bind(&TaskConti::computeContiDesiredVelocity, this, _1, _2)); |
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signalRegistration(controlPrevSIN); |
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} |
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VectorMultiBound &TaskConti::computeContiDesiredVelocity( |
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VectorMultiBound &desvel2b, const int &timecurr) { |
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sotDEBUG(15) << "# In {" << endl; |
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dynamicgraph::Vector desvel = errorSOUT(timecurr); |
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const double &lambda = controlGainSIN(timecurr); |
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try { |
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const dynamicgraph::Matrix &J = jacobianSOUT(timecurr); |
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dynamicgraph::Vector deref(J.rows()); |
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sotDEBUG(15) << "q0 = " << q0 << std::endl; |
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sotDEBUG(25) << "J = " << J << std::endl; |
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if (q0.size() != (J.cols() - 6)) throw; // TODO |
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for (int i = 0; i < J.rows(); ++i) { |
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deref(i) = 0; |
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for (int j = 6; j < J.cols(); ++j) deref(i) += J(i, j) * q0(j - 6); |
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} |
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if (timeRef == TIME_REF_TO_BE_SET) { |
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timeRef = timecurr; |
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} |
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if (timeRef < 0) { |
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sotDEBUG(10) << "Time not used. " << std::endl; |
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throw 1; |
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} |
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double dt = timeRef - timecurr; |
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dt *= mu / 200.0; |
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double contiGain = exp(dt); |
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double gain = (contiGain - 1) * lambda; |
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sotDEBUG(25) << "T: ref=" << timeRef << ", cur=" << timecurr << std::endl; |
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sotDEBUG(25) << "Gains: l=" << lambda << ", expmu=" << contiGain |
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<< std::endl; |
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sotDEBUG(25) << "e = " << deref << std::endl; |
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desvel *= gain; |
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sotDEBUG(25) << "dedes: " << desvel << std::endl; |
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deref *= contiGain; |
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desvel += deref; |
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sotDEBUG(25) << "task: " << desvel << std::endl; |
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desvel2b.resize(desvel.size()); |
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for (int i = 0; i < desvel.size(); ++i) desvel2b[i] = desvel(i); |
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sotDEBUG(15) << "# Out }" << endl; |
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return desvel2b; |
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} catch (...) { |
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const dynamicgraph::Vector &desvel = errorSOUT(timecurr); |
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const double &gain = controlGainSIN(timecurr); |
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desvel2b.resize(desvel.size()); |
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for (int i = 0; i < desvel.size(); ++i) desvel2b[i] = -gain * desvel(i); |
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return desvel2b; |
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} |
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} |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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void TaskConti::display(std::ostream &os) const { |
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os << "TaskConti " << name << " [t=" << timeRef << "] " |
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<< ": " << endl; |
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os << "--- LIST --- " << std::endl; |
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for (FeatureList_t::const_iterator iter = featureList.begin(); |
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iter != featureList.end(); ++iter) { |
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os << "-> " << (*iter)->getName() << endl; |
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} |
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} |