Directory: | ./ |
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File: | src/task/task.cpp |
Date: | 2024-08-13 12:13:25 |
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Lines: | 117 | 156 | 75.0% |
Branches: | 114 | 268 | 42.5% |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | /* --------------------------------------------------------------------- */ | ||
11 | /* --- INCLUDE --------------------------------------------------------- */ | ||
12 | /* --------------------------------------------------------------------- */ | ||
13 | |||
14 | /* SOT */ | ||
15 | #include <dynamic-graph/all-commands.h> | ||
16 | |||
17 | #include <sot/core/debug.hh> | ||
18 | #include <sot/core/pool.hh> | ||
19 | #include <sot/core/task.hh> | ||
20 | |||
21 | #include "../src/task/task-command.h" | ||
22 | |||
23 | using namespace std; | ||
24 | using namespace dynamicgraph::sot; | ||
25 | using namespace dynamicgraph; | ||
26 | |||
27 | #include <sot/core/factory.hh> | ||
28 | ✗ | DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Task, "Task"); | |
29 | |||
30 | /* --------------------------------------------------------------------- */ | ||
31 | /* --- CLASS ----------------------------------------------------------- */ | ||
32 | /* --------------------------------------------------------------------- */ | ||
33 | |||
34 | 8 | Task::Task(const std::string &n) | |
35 | : TaskAbstract(n), | ||
36 | 8 | featureList(), | |
37 | 8 | withDerivative(false), | |
38 |
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8 | controlGainSIN(NULL, "sotTask(" + n + ")::input(double)::controlGain"), |
39 |
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8 | dampingGainSINOUT(NULL, "sotTask(" + n + ")::in/output(double)::damping") |
40 | // TODO As far as I understand, this is not used in this class. | ||
41 | , | ||
42 |
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8 | controlSelectionSIN(NULL, |
43 |
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16 | "sotTask(" + n + ")::input(flag)::controlSelec"), |
44 |
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8 | errorSOUT(boost::bind(&Task::computeError, this, _1, _2), sotNOSIGNAL, |
45 |
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16 | "sotTask(" + n + ")::output(vector)::error"), |
46 |
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8 | errorTimeDerivativeSOUT( |
47 | boost::bind(&Task::computeErrorTimeDerivative, this, _1, _2), | ||
48 | errorSOUT, | ||
49 |
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24 | "sotTask(" + n + ")::output(vector)::errorTimeDerivative") { |
50 |
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8 | taskSOUT.setFunction( |
51 | boost::bind(&Task::computeTaskExponentialDecrease, this, _1, _2)); | ||
52 |
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8 | jacobianSOUT.setFunction(boost::bind(&Task::computeJacobian, this, _1, _2)); |
53 | |||
54 |
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8 | taskSOUT.addDependency(controlGainSIN); |
55 |
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8 | taskSOUT.addDependency(errorSOUT); |
56 |
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8 | taskSOUT.addDependency(errorTimeDerivativeSOUT); |
57 | |||
58 |
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8 | jacobianSOUT.addDependency(controlSelectionSIN); |
59 | |||
60 |
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8 | controlSelectionSIN = true; |
61 | |||
62 |
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16 | signalRegistration(controlGainSIN << dampingGainSINOUT << controlSelectionSIN |
63 |
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8 | << errorSOUT << errorTimeDerivativeSOUT); |
64 | |||
65 |
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8 | initCommands(); |
66 | 8 | } | |
67 | |||
68 | 8 | void Task::initCommands(void) { | |
69 | using namespace dynamicgraph::command; | ||
70 | // | ||
71 | // Commands | ||
72 | // | ||
73 | 8 | std::string docstring; | |
74 | // AddFeature | ||
75 | docstring = | ||
76 | " \n" | ||
77 | " Add a feature to the task\n" | ||
78 | " \n" | ||
79 | " Input:\n" | ||
80 | " - name of the feature\n" | ||
81 |
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8 | " \n"; |
82 |
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8 | addCommand("add", |
83 |
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8 | makeCommandVoid1(*this, &Task::addFeatureFromName, docstring)); |
84 | |||
85 |
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8 | addCommand("setWithDerivative", |
86 |
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8 | makeDirectSetter(*this, &withDerivative, |
87 |
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16 | docDirectSetter("withDerivative", "bool"))); |
88 |
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8 | addCommand("getWithDerivative", |
89 |
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8 | makeDirectGetter(*this, &withDerivative, |
90 |
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16 | docDirectGetter("withDerivative", "bool"))); |
91 | // ClearFeatureList | ||
92 | docstring = | ||
93 | " \n" | ||
94 | " Clear the list of features of the task\n" | ||
95 |
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8 | " \n"; |
96 | |||
97 |
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8 | addCommand("clear", |
98 |
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8 | makeCommandVoid0(*this, &Task::clearFeatureList, docstring)); |
99 | // List features | ||
100 | docstring = | ||
101 | " \n" | ||
102 | " Returns the list of features of the task\n" | ||
103 |
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8 | " \n"; |
104 | |||
105 |
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8 | addCommand("list", new command::task::ListFeatures(*this, docstring)); |
106 | 8 | } | |
107 | |||
108 | 9 | void Task::addFeature(FeatureAbstract &s) { | |
109 |
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9 | featureList.push_back(&s); |
110 | 9 | jacobianSOUT.addDependency(s.jacobianSOUT); | |
111 | 9 | errorSOUT.addDependency(s.errorSOUT); | |
112 | 9 | errorTimeDerivativeSOUT.addDependency(s.getErrorDot()); | |
113 | 9 | } | |
114 | |||
115 | ✗ | void Task::addFeatureFromName(const std::string &featureName) { | |
116 | FeatureAbstract &feature = | ||
117 | ✗ | PoolStorage::getInstance()->getFeature(featureName); | |
118 | ✗ | addFeature(feature); | |
119 | } | ||
120 | |||
121 | ✗ | void Task::clearFeatureList(void) { | |
122 | ✗ | for (FeatureList_t::iterator iter = featureList.begin(); | |
123 | ✗ | iter != featureList.end(); ++iter) { | |
124 | ✗ | FeatureAbstract &s = **iter; | |
125 | ✗ | jacobianSOUT.removeDependency(s.jacobianSOUT); | |
126 | ✗ | errorSOUT.removeDependency(s.errorSOUT); | |
127 | ✗ | errorTimeDerivativeSOUT.removeDependency(s.getErrorDot()); | |
128 | } | ||
129 | |||
130 | ✗ | featureList.clear(); | |
131 | } | ||
132 | |||
133 | ✗ | void Task::setControlSelection(const Flags &act) { controlSelectionSIN = act; } | |
134 | ✗ | void Task::addControlSelection(const Flags &act) { | |
135 | ✗ | Flags fl = controlSelectionSIN.accessCopy(); | |
136 | ✗ | fl &= act; | |
137 | ✗ | controlSelectionSIN = fl; | |
138 | } | ||
139 | ✗ | void Task::clearControlSelection(void) { controlSelectionSIN = Flags(false); } | |
140 | |||
141 | 6 | void Task::setWithDerivative(const bool &s) { withDerivative = s; } | |
142 | ✗ | bool Task::getWithDerivative(void) { return withDerivative; } | |
143 | |||
144 | /* --- COMPUTATION ---------------------------------------------------------- */ | ||
145 | /* --- COMPUTATION ---------------------------------------------------------- */ | ||
146 | /* --- COMPUTATION ---------------------------------------------------------- */ | ||
147 | |||
148 | 606 | dynamicgraph::Vector &Task::computeError(dynamicgraph::Vector &error, | |
149 | int time) { | ||
150 | sotDEBUG(15) << "# In " << getName() << " {" << endl; | ||
151 | |||
152 |
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606 | if (featureList.empty()) { |
153 | ✗ | throw(ExceptionTask(ExceptionTask::EMPTY_LIST, "Empty feature list")); | |
154 | } | ||
155 | |||
156 | try { | ||
157 | /* The vector dimensions are not known before the affectation loop. | ||
158 | * They thus should be allocated on the flight, in the loop. | ||
159 | * The first assumption is that the size has not changed. A double | ||
160 | * reallocation (realloc(dim*2)) is done if necessary. In particulary, | ||
161 | * [log_2(dim)+1] reallocations are done for the first error computation. | ||
162 | * If the allocated size is too large, a correction is done after the loop. | ||
163 | * The algotithmic cost is linear in affectation, logarthmic in allocation | ||
164 | * numbers and linear in allocation size. | ||
165 | * No assumptions are made concerning size of each vector: they are | ||
166 | * not said equal, and could be different. | ||
167 | */ | ||
168 | |||
169 | /* First assumption: vector dimensions have not changed. If 0, they are | ||
170 | * initialized to dim 1.*/ | ||
171 | 606 | dynamicgraph::Vector::Index dimError = error.size(); | |
172 |
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606 | if (0 == dimError) { |
173 | 12 | dimError = 1; | |
174 |
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12 | error.resize(dimError); |
175 |
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12 | error.setZero(); |
176 | } | ||
177 | |||
178 |
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606 | dynamicgraph::Vector vectTmp; |
179 | 606 | int cursorError = 0; | |
180 | |||
181 | /* For each cell of the list, recopy value of s, s_star and error. */ | ||
182 | 606 | for (FeatureList_t::iterator iter = featureList.begin(); | |
183 |
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1212 | iter != featureList.end(); ++iter) { |
184 | 606 | FeatureAbstract &feature = **iter; | |
185 | |||
186 | /* Get s, and store it in the s vector. */ | ||
187 | sotDEBUG(45) << "Feature <" << feature.getName() << ">." << std::endl; | ||
188 |
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606 | const dynamicgraph::Vector &partialError = feature.errorSOUT(time); |
189 | |||
190 | 606 | const dynamicgraph::Vector::Index dim = partialError.size(); | |
191 |
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642 | while (cursorError + dim > dimError) // DEBUG It was >= |
192 | { | ||
193 | 36 | dimError *= 2; | |
194 |
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36 | error.resize(dimError); |
195 |
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36 | error.setZero(); |
196 | } | ||
197 | |||
198 |
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4242 | for (int k = 0; k < dim; ++k) { |
199 |
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3636 | error(cursorError++) = partialError(k); |
200 | } | ||
201 | sotDEBUG(35) << "feature: " << partialError << std::endl; | ||
202 | sotDEBUG(35) << "error: " << error << std::endl; | ||
203 | } | ||
204 | |||
205 | /* If too much memory has been allocated, resize. */ | ||
206 |
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606 | error.conservativeResize(cursorError); |
207 |
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606 | } catch SOT_RETHROW; |
208 | |||
209 | sotDEBUG(35) << "error_final: " << error << std::endl; | ||
210 | sotDEBUG(15) << "# Out }" << endl; | ||
211 | 606 | return error; | |
212 | } | ||
213 | |||
214 | 126 | dynamicgraph::Vector &Task::computeErrorTimeDerivative( | |
215 | dynamicgraph::Vector &res, int time) { | ||
216 | 126 | res.resize(errorSOUT(time).size()); | |
217 | 126 | dynamicgraph::Vector::Index cursor = 0; | |
218 | |||
219 | 126 | for (FeatureList_t::iterator iter = featureList.begin(); | |
220 |
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252 | iter != featureList.end(); ++iter) { |
221 | 126 | FeatureAbstract &feature = **iter; | |
222 | |||
223 |
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126 | const dynamicgraph::Vector &partialErrorDot = feature.getErrorDot()(time); |
224 | 126 | const dynamicgraph::Vector::Index dim = partialErrorDot.size(); | |
225 |
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126 | res.segment(cursor, dim) = partialErrorDot; |
226 | 126 | cursor += dim; | |
227 | } | ||
228 | |||
229 | 126 | return res; | |
230 | } | ||
231 | |||
232 | 126 | VectorMultiBound &Task::computeTaskExponentialDecrease( | |
233 | VectorMultiBound &errorRef, int time) { | ||
234 | sotDEBUG(15) << "# In {" << endl; | ||
235 | 126 | const dynamicgraph::Vector &errSingleBound = errorSOUT(time); | |
236 | 126 | const double &gain = controlGainSIN(time); | |
237 | 126 | errorRef.resize(errSingleBound.size()); | |
238 | |||
239 |
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882 | for (unsigned int i = 0; i < errorRef.size(); ++i) |
240 | 756 | errorRef[i] = -errSingleBound(i) * gain; | |
241 | |||
242 |
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126 | if (withDerivative) { |
243 | 126 | const dynamicgraph::Vector &de = errorTimeDerivativeSOUT(time); | |
244 |
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882 | for (unsigned int i = 0; i < errorRef.size(); ++i) |
245 | 756 | errorRef[i] = errorRef[i].getSingleBound() - de(i); | |
246 | } | ||
247 | |||
248 | sotDEBUG(15) << "# Out }" << endl; | ||
249 | 126 | return errorRef; | |
250 | } | ||
251 | |||
252 | 32 | dynamicgraph::Matrix &Task::computeJacobian(dynamicgraph::Matrix &J, int time) { | |
253 | sotDEBUG(15) << "# In {" << endl; | ||
254 | |||
255 |
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32 | if (featureList.empty()) { |
256 | ✗ | throw(ExceptionTask(ExceptionTask::EMPTY_LIST, "Empty feature list")); | |
257 | } | ||
258 | |||
259 | try { | ||
260 | 32 | dynamicgraph::Matrix::Index dimJ = J.rows(); | |
261 | 32 | dynamicgraph::Matrix::Index nbc = J.cols(); | |
262 |
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32 | if (0 == dimJ) { |
263 | 8 | dimJ = 1; | |
264 |
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8 | J.resize(dimJ, nbc); |
265 | } | ||
266 | |||
267 | 32 | dynamicgraph::Matrix::Index cursorJ = 0; | |
268 | // const Flags& selection = controlSelectionSIN(time); | ||
269 | |||
270 | /* For each cell of the list, recopy value of s, s_star and error. */ | ||
271 | 32 | for (FeatureList_t::iterator iter = featureList.begin(); | |
272 |
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64 | iter != featureList.end(); ++iter) { |
273 | 32 | FeatureAbstract &feature = **iter; | |
274 | sotDEBUG(25) << "Feature <" << feature.getName() << ">" << endl; | ||
275 | |||
276 | /* Get s, and store it in the s vector. */ | ||
277 |
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32 | const dynamicgraph::Matrix &partialJacobian = feature.jacobianSOUT(time); |
278 | 32 | const dynamicgraph::Matrix::Index nbr = partialJacobian.rows(); | |
279 | sotDEBUG(25) << "Jp =" << endl << partialJacobian << endl; | ||
280 | |||
281 |
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32 | if (0 == nbc) { |
282 | 8 | nbc = partialJacobian.cols(); | |
283 |
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8 | J.resize(nbc, dimJ); |
284 |
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24 | } else if (partialJacobian.cols() != nbc) |
285 | ✗ | throw ExceptionTask( | |
286 | ✗ | ExceptionTask::NON_ADEQUATE_FEATURES, | |
287 | ✗ | "Features from the list don't have compatible-size jacobians."); | |
288 | |||
289 |
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80 | while (cursorJ + nbr >= dimJ) { |
290 | 48 | dimJ *= 2; | |
291 |
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48 | J.conservativeResize(dimJ, nbc); |
292 | } | ||
293 | // TODO If controlSelectionSIN is really to be removed, | ||
294 | // then the following loop is equivalent to: | ||
295 | // J.middleRows (cursorJ, nbr) = partialJacobian; | ||
296 |
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1120 | for (int kc = 0; kc < nbc; ++kc) { |
297 | // if( selection(kc) ) | ||
298 |
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7616 | for (unsigned int k = 0; k < nbr; ++k) { |
299 |
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6528 | J(cursorJ + k, kc) = partialJacobian(k, kc); |
300 | } | ||
301 | // else | ||
302 | // for( unsigned int k=0;k<nbr;++k ) J(cursorJ+k,kc) = 0.; | ||
303 | } | ||
304 | 32 | cursorJ += nbr; | |
305 | } | ||
306 | |||
307 | /* If too much memory has been allocated, resize. */ | ||
308 |
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32 | J.conservativeResize(cursorJ, nbc); |
309 | ✗ | } catch SOT_RETHROW; | |
310 | |||
311 | sotDEBUG(15) << "# Out }" << endl; | ||
312 | 32 | return J; | |
313 | } | ||
314 | |||
315 | /* --- DISPLAY ------------------------------------------------------------ */ | ||
316 | /* --- DISPLAY ------------------------------------------------------------ */ | ||
317 | /* --- DISPLAY ------------------------------------------------------------ */ | ||
318 | |||
319 | ✗ | void Task::display(std::ostream &os) const { | |
320 | ✗ | os << "Task " << name << ": " << endl; | |
321 | ✗ | os << "--- LIST --- " << std::endl; | |
322 | |||
323 | ✗ | for (FeatureList_t::const_iterator iter = featureList.begin(); | |
324 | ✗ | iter != featureList.end(); ++iter) { | |
325 | ✗ | os << "-> " << (*iter)->getName() << endl; | |
326 | } | ||
327 | } | ||
328 | |||
329 | ✗ | std::ostream &Task::writeGraph(std::ostream &os) const { | |
330 | ✗ | FeatureList_t::const_iterator itFeatureAbstract; | |
331 | ✗ | itFeatureAbstract = featureList.begin(); | |
332 | ✗ | while (itFeatureAbstract != featureList.end()) { | |
333 | ✗ | os << "\t\"" << (*itFeatureAbstract)->getName() << "\" -> \"" << getName() | |
334 | ✗ | << "\"" << endl; | |
335 | ✗ | itFeatureAbstract++; | |
336 | } | ||
337 | ✗ | return os; | |
338 | } | ||
339 |