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// Copyright (c) 2017 CNRS, NYU, MPI Tübingen |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include "tsid/math/utils.hpp" |
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#include "tsid/contacts/contact-6d.hpp" |
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#include <pinocchio/spatial/skew.hpp> |
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using namespace tsid; |
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using namespace contacts; |
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using namespace math; |
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using namespace trajectories; |
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using namespace tasks; |
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Contact6d::Contact6d(const std::string& name, RobotWrapper& robot, |
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const std::string& frameName, ConstRefMatrix contactPoints, |
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ConstRefVector contactNormal, |
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const double frictionCoefficient, |
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const double minNormalForce, const double maxNormalForce) |
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: ContactBase(name, robot), |
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m_motionTask(name, robot, frameName), |
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m_forceInequality(name, 17, 12), |
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m_forceRegTask(name, 6, 12), |
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m_contactPoints(contactPoints), |
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m_contactNormal(contactNormal), |
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m_mu(frictionCoefficient), |
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m_fMin(minNormalForce), |
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m_fMax(maxNormalForce) { |
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this->init(); |
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} |
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Contact6d::Contact6d(const std::string& name, RobotWrapper& robot, |
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const std::string& frameName, ConstRefMatrix contactPoints, |
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ConstRefVector contactNormal, |
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const double frictionCoefficient, |
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const double minNormalForce, const double maxNormalForce, |
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const double) |
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: ContactBase(name, robot), |
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m_motionTask(name, robot, frameName), |
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m_forceInequality(name, 17, 12), |
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m_forceRegTask(name, 6, 12), |
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m_contactPoints(contactPoints), |
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m_contactNormal(contactNormal), |
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m_mu(frictionCoefficient), |
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m_fMin(minNormalForce), |
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m_fMax(maxNormalForce) { |
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std::cout << "[Contact6d] The constructor with forceRegWeight is deprecated " |
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"now. forceRegWeight should now be specified when calling " |
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"addRigidContact()\n"; |
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this->init(); |
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} |
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void Contact6d::init() { |
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m_weightForceRegTask << 1, 1, 1e-3, 2, 2, 2; |
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m_forceGenMat.resize(6, 12); |
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m_fRef = Vector6::Zero(); |
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updateForceGeneratorMatrix(); |
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updateForceInequalityConstraints(); |
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updateForceRegularizationTask(); |
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} |
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void Contact6d::updateForceInequalityConstraints() { |
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Vector3 t1, t2; |
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const int n_in = 4 * 4 + 1; |
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const int n_var = 3 * 4; |
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Matrix B = Matrix::Zero(n_in, n_var); |
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Vector lb = -1e10 * Vector::Ones(n_in); |
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Vector ub = Vector::Zero(n_in); |
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t1 = m_contactNormal.cross(Vector3::UnitX()); |
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if (t1.norm() < 1e-5) t1 = m_contactNormal.cross(Vector3::UnitY()); |
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t2 = m_contactNormal.cross(t1); |
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t1.normalize(); |
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t2.normalize(); |
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B.block<1, 3>(0, 0) = (-t1 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(1, 0) = (t1 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(2, 0) = (-t2 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(3, 0) = (t2 - m_mu * m_contactNormal).transpose(); |
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for (int i = 1; i < 4; i++) { |
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B.block<4, 3>(4 * i, 3 * i) = B.topLeftCorner<4, 3>(); |
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} |
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B.block<1, 3>(n_in - 1, 0) = m_contactNormal.transpose(); |
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B.block<1, 3>(n_in - 1, 3) = m_contactNormal.transpose(); |
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B.block<1, 3>(n_in - 1, 6) = m_contactNormal.transpose(); |
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B.block<1, 3>(n_in - 1, 9) = m_contactNormal.transpose(); |
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ub(n_in - 1) = m_fMax; |
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lb(n_in - 1) = m_fMin; |
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m_forceInequality.setMatrix(B); |
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m_forceInequality.setLowerBound(lb); |
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m_forceInequality.setUpperBound(ub); |
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} |
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double Contact6d::getNormalForce(ConstRefVector f) const { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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f.size() == n_force(), |
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"f needs to contain " + std::to_string(n_force()) + " rows"); |
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double n = 0.0; |
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for (int i = 0; i < 4; i++) n += m_contactNormal.dot(f.segment<3>(i * 3)); |
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return n; |
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} |
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void Contact6d::setRegularizationTaskWeightVector(ConstRefVector& w) { |
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m_weightForceRegTask = w; |
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updateForceRegularizationTask(); |
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} |
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void Contact6d::updateForceRegularizationTask() { |
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typedef Eigen::Matrix<double, 6, 6> Matrix6; |
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Matrix6 A = Matrix6::Zero(); |
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A.diagonal() = m_weightForceRegTask; |
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m_forceRegTask.setMatrix(A * m_forceGenMat); |
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m_forceRegTask.setVector(A * m_fRef); |
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} |
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void Contact6d::updateForceGeneratorMatrix() { |
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assert(m_contactPoints.rows() == 3); |
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assert(m_contactPoints.cols() == 4); |
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for (int i = 0; i < 4; i++) { |
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m_forceGenMat.block<3, 3>(0, i * 3).setIdentity(); |
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m_forceGenMat.block<3, 3>(3, i * 3) = |
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pinocchio::skew(m_contactPoints.col(i)); |
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} |
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} |
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unsigned int Contact6d::n_motion() const { return 6; } |
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unsigned int Contact6d::n_force() const { return 12; } |
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const Vector& Contact6d::Kp() const { return m_motionTask.Kp(); } |
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const Vector& Contact6d::Kd() const { return m_motionTask.Kd(); } |
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void Contact6d::Kp(ConstRefVector Kp) { m_motionTask.Kp(Kp); } |
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void Contact6d::Kd(ConstRefVector Kd) { m_motionTask.Kd(Kd); } |
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bool Contact6d::setContactPoints(ConstRefMatrix contactPoints) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(contactPoints.rows() == 3, |
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"The number of rows needs to be 3"); |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(contactPoints.cols() == 4, |
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"The number of cols needs to be 4"); |
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if (contactPoints.rows() != 3 || contactPoints.cols() != 4) return false; |
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m_contactPoints = contactPoints; |
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updateForceGeneratorMatrix(); |
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return true; |
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} |
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const Matrix3x& Contact6d::getContactPoints() const { return m_contactPoints; } |
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bool Contact6d::setContactNormal(ConstRefVector contactNormal) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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contactNormal.size() == 3, |
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"The size of the contactNormal vector needs to equal 3"); |
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if (contactNormal.size() != 3) return false; |
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m_contactNormal = contactNormal; |
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updateForceInequalityConstraints(); |
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return true; |
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} |
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bool Contact6d::setFrictionCoefficient(const double frictionCoefficient) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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frictionCoefficient > 0.0, |
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"The friction coefficient needs to be positive"); |
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if (frictionCoefficient <= 0.0) return false; |
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m_mu = frictionCoefficient; |
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updateForceInequalityConstraints(); |
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return true; |
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} |
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bool Contact6d::setMinNormalForce(const double minNormalForce) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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minNormalForce > 0.0 && minNormalForce <= m_fMax, |
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"The minimal normal force needs to be greater than 0 and less than or " |
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"equal to the maximal force"); |
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if (minNormalForce <= 0.0 || minNormalForce > m_fMax) return false; |
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m_fMin = minNormalForce; |
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Vector& lb = m_forceInequality.lowerBound(); |
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lb(lb.size() - 1) = m_fMin; |
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return true; |
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} |
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bool Contact6d::setMaxNormalForce(const double maxNormalForce) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(maxNormalForce >= m_fMin, |
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"The maximal force needs to be greater than " |
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"or equal to the minimal force"); |
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if (maxNormalForce < m_fMin) return false; |
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m_fMax = maxNormalForce; |
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Vector& ub = m_forceInequality.upperBound(); |
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ub(ub.size() - 1) = m_fMax; |
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return true; |
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} |
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void Contact6d::setForceReference(ConstRefVector& f_ref) { |
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m_fRef = f_ref; |
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updateForceRegularizationTask(); |
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} |
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void Contact6d::setReference(const SE3& ref) { m_motionTask.setReference(ref); } |
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const ConstraintBase& Contact6d::computeMotionTask(const double t, |
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ConstRefVector q, |
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ConstRefVector v, |
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Data& data) { |
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return m_motionTask.compute(t, q, v, data); |
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} |
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const ConstraintInequality& Contact6d::computeForceTask(const double, |
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ConstRefVector, |
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ConstRefVector, |
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const Data&) { |
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return m_forceInequality; |
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} |
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const Matrix& Contact6d::getForceGeneratorMatrix() { return m_forceGenMat; } |
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const ConstraintEquality& Contact6d::computeForceRegularizationTask( |
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const double, ConstRefVector, ConstRefVector, const Data&) { |
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return m_forceRegTask; |
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} |
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double Contact6d::getMinNormalForce() const { return m_fMin; } |
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double Contact6d::getMaxNormalForce() const { return m_fMax; } |
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const TaskSE3Equality& Contact6d::getMotionTask() const { return m_motionTask; } |
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const ConstraintBase& Contact6d::getMotionConstraint() const { |
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return m_motionTask.getConstraint(); |
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} |
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const ConstraintInequality& Contact6d::getForceConstraint() const { |
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return m_forceInequality; |
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} |
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const ConstraintEquality& Contact6d::getForceRegularizationTask() const { |
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return m_forceRegTask; |
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} |